Coverage search in 3D

Abstract

Searching with a sensor for objects and to observe parts of a known environment efficiently is a fundamental prob- lem in many real-world robotic applications such as household robots searching for objects, inspection robots searching for leaking pipelines, and rescue robots searching for survivors after a disaster. We consider the problem of identifying and planning efficient view point sequences for covering complex 3d environments. We compare empirically several variants of our algorithm that allow to trade-off schedule computation against execution time. Our results demonstrate that, despite the intractability of the overall problem, computing effective solutions for coverage search in real 3d environments is feasible. 

Accepted for Publication.

ELLIIT CADICS CUAS SHERPA

Original document

The different versions of the original document can be found in:

• http://liu.diva-portal.org/smash/get/diva2:646258/FULLTEXT02

• http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-97300

• http://gki.informatik.uni-freiburg.de/papers/dornhege-etal-ssrr2013.pdf,

http://www.diva-portal.org/smash/record.jsf?pid=diva2:646258,

http://www2.informatik.uni-freiburg.de/~ki/papers/dornhege-etal-ssrr2013.pdf,

https://ieeexplore.ieee.org/document/6719340,

https://dblp.uni-trier.de/db/conf/ssrr/ssrr2013.html#DornhegeKK13,

https://doi.org/10.1109/SSRR.2013.6719340,

http://ieeexplore.ieee.org/document/6719340,

https://academic.microsoft.com/#/detail/2018937007

• http://xplorestaging.ieee.org/ielx7/6708581/6719314/06719340.pdf?arnumber=6719340,

http://dx.doi.org/10.1109/ssrr.2013.6719340