Please use this identifier to cite or link to this item: https://doi.org/10.1109/ROBOT.2006.1642052
DC FieldValue
dc.titleA greedy strategy for tracking a locally predictable target among obstacles
dc.contributor.authorBandyopadhyay, T.
dc.contributor.authorLi, Y.
dc.contributor.authorAng Jr., M.H.
dc.contributor.authorHsu, D.
dc.date.accessioned2013-07-23T09:28:50Z
dc.date.available2013-07-23T09:28:50Z
dc.date.issued2006
dc.identifier.citationBandyopadhyay, T., Li, Y., Ang Jr., M.H., Hsu, D. (2006). A greedy strategy for tracking a locally predictable target among obstacles. Proceedings - IEEE International Conference on Robotics and Automation 2006 : 2342-2347. ScholarBank@NUS Repository. https://doi.org/10.1109/ROBOT.2006.1642052
dc.identifier.isbn0780395069
dc.identifier.issn10504729
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/43243
dc.description.abstractTarget tracking among obstacles is an interesting class of motion planning problems that combine the usual motion constraints with robot sensors' visibility constraints. In this paper, we introduce the notion of vantage time and use it to formulate a risk function that evaluates the robot's advantage in maintaining the visibility constraint against the target. Local minimization of the risk function leads to a greedy tracking strategy. We also use simple velocity prediction on the target to further improve tracking performance. We compared our new strategy with earlier work in extensive simulation experiments and obtained much improved results. © 2006 IEEE.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1109/ROBOT.2006.1642052
dc.sourceScopus
dc.typeConference Paper
dc.contributor.departmentCOMPUTER SCIENCE
dc.contributor.departmentMECHANICAL ENGINEERING
dc.description.doi10.1109/ROBOT.2006.1642052
dc.description.sourcetitleProceedings - IEEE International Conference on Robotics and Automation
dc.description.volume2006
dc.description.page2342-2347
dc.description.codenPIIAE
dc.identifier.isiut000240886905013
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