Abstract.
We consider the problem of planning sensor control strategies that enable a sensor to be automatically configured for robot tasks. In this paper we present robust and efficient algorithms for computing the regions from which a sensor has unobstructed or partially obstructed views of a target in a goal. We apply these algorithms to the Error Detection and Recovery problem of recognizing whether a goal or failure region has been achieved. Based on these methods and strategies for visually cued camera control, we have built a robot surveillance system in which one mobile robot navigates to a viewing position from which it has an unobstructed view of a goal region, and then uses visual recognition to detect when a specific target has entered the region.
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Received November 11, 1996; revised January 12, 1998.
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Briggs, A., Donald, B. Visibility-Based Planning of Sensor Control Strategies . Algorithmica 26, 364–388 (2000). https://doi.org/10.1007/s004539910018
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DOI: https://doi.org/10.1007/s004539910018