Published July 2007
| Published
Book Section - Chapter
Open
Robotic Path Planning and Visibility with Limited Sensor Data
Abstract
Autonomous robotic systems (observers) equipped with range sensors must be able to discover their surroundings, in an initially unknown environment, for navigational purposes. We present an implementation of a recent environment- mapping algorithm [1] based on Essentially Non-oscillatory (ENO) interpolation [2]. An economical cooperative control tank-based platform [3] is used to validate our algorithm. Each vehicle on the test-bed is equipped with a flexible caterpillar drive, range sensor, limited onboard computing, and wireless communication.
Additional Information
© 2007 IEEE. This research was supported as part of the Research in Industrial Projects for Students (RIPS) program at the Institute for Pure and Applied Mathematics (IPAM), and funded by NSF grant DMS-0439872 and NSA grant H98230-06-1-0057. We would like to thank Matthew Sottile who was a RIPS industrial mentor from Los Alamos National Laboratory. Additionally, this research was supported by NSF grant DMS-0601395, ARO MURI grant 50363-MA-MUR, ONR grant N000140610059, ARO grant W911NF-05-1-0112, and NSF grant DMS-0513394.Attached Files
Published - 04282381.pdf
Files
04282381.pdf
Files
(445.4 kB)
| Name | Size | Download all |
|---|---|---|
|
md5:5682d626400d55ecf20bba72df9aacbd
|
445.4 kB | Preview Download |
Additional details
- Eprint ID
- 76971
- Resolver ID
- CaltechAUTHORS:20170426-171613649
- Institute for Pure and Applied Mathematics
- DMS-0439872
- NSF
- H98230-06-1-0057
- National Security Agency (NSA)
- DMS-0601395
- NSF
- 50363-MA-MURI
- Army Research Office (ARO)
- N000140610059
- Office of Naval Research (ONR)
- W911NF-05-1-0112
- Army Research Office (ARO)
- DMS-0513394
- NSF
- Created
-
2017-04-27Created from EPrint's datestamp field
- Updated
-
2021-11-15Created from EPrint's last_modified field