Visibility in motion

Esra Kadioglu Urtis, Loren Fiore, Nikolaos Papanikolopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

We address the problem of determining and obtaining the visibility of a moving target from multiple angles using a mobile robot. The pursuer uses a modified form of pursuit curve in order to reach the aim point (or multiple aim points) which is at a pre-determined distance and angle from the target. Unlike existing works that track a target to localize it, or follow a target by keeping it in the current frame of view generally from behind the target, the focus of our work is on an efficient pursuit of the target such that a certain set of images of it from various orientations can be acquired. We present a method to approach a target in motion from various angles and an analysis of whether the task completion is possible in the cases of a target performing a random walk and an adversarial target

Original languageEnglish (US)
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages997-1002
Number of pages6
DOIs
StatePublished - Dec 1 2007
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: Oct 29 2007Nov 2 2007

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period10/29/0711/2/07

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