Exploratory path planning and target detection using visibility

Richard Tsai
University of Texas at Austin

I will present a recent work on planning a path through an unknown environment under various settings.

In this talk, a robot is placed in an unknown environment and is supposed to map out the environment using what can be seen from its current location.

Furthermore, when an unknown diffusive source is present, the robot, equipped with the appropriate sensor, is to move to a location so that the unknown source can be determined from the collected sensor data, and is under visual surveillance from the robot.

We shall discuss different notions of "optimality" in the path design under the above settings.

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