Speeding Up Coverage Queries in 3D Multi-Goal Path Planning

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F13%3A00205379" target="_blank" >RIV/68407700:21230/13:00205379 - isvavai.cz</a>

Výsledek na webu

<a href="http://dx.doi.org/10.1109/ICRA.2013.6631303" target="_blank" >http://dx.doi.org/10.1109/ICRA.2013.6631303</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ICRA.2013.6631303" target="_blank" >10.1109/ICRA.2013.6631303</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Speeding Up Coverage Queries in 3D Multi-Goal Path Planning

Popis výsledku v původním jazyce

In this paper, we present a supporting structure for speeding up visibility queries needed for a 3D multi-goal path planning arising from a robotic coverage problem where goals are sensing locations from which an object of interest can be covered. Although such coverage problems can be addressed by a decomposed approach where sensing locations are determined prior finding the sequence of their visits, the proposed approach is motivated by a solution of the problem in which sensing locations are simultaneously determined together with evaluation of the path connecting them in order to provide a cost effective inspection path. The proposed structure divides the space into elements that support determination of suitable sensing locations to cover the objects during solution of the multi-goal path planning.

Název v anglickém jazyce

Speeding Up Coverage Queries in 3D Multi-Goal Path Planning

Popis výsledku anglicky

In this paper, we present a supporting structure for speeding up visibility queries needed for a 3D multi-goal path planning arising from a robotic coverage problem where goals are sensing locations from which an object of interest can be covered. Although such coverage problems can be addressed by a decomposed approach where sensing locations are determined prior finding the sequence of their visits, the proposed approach is motivated by a solution of the problem in which sensing locations are simultaneously determined together with evaluation of the path connecting them in order to provide a cost effective inspection path. The proposed structure divides the space into elements that support determination of suitable sensing locations to cover the objects during solution of the multi-goal path planning.

Druh

D - Stať ve sborníku

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

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Projekt

<a href="/cs/project/GP13-18316P" target="_blank" >GP13-18316P: Samo-organizující se sítě v robotických úlohách plánování cesty přes více cílů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2013

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

ICRA2013: Proceedings of 2013 IEEE International Conference on Robotics and Automation

ISBN

978-1-4673-5641-1

ISSN

1050-4729

e-ISSN

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Počet stran výsledku

6

Strana od-do

5067-5072

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Karlsruhe

Datum konání akce

6. 5. 2013

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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