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Title: Motion planning for 3-D target tracking among obstacles
Authors: Bandyopadhyay, T.
Ang Jr., M.H. 
Hsu, D. 
Issue Date: 2010
Citation: Bandyopadhyay, T.,Ang Jr., M.H.,Hsu, D. (2010). Motion planning for 3-D target tracking among obstacles. Springer Tracts in Advanced Robotics 66 (STAR) : 267-279. ScholarBank@NUS Repository.
Abstract: The goal of target tracking is to compute motion strategies for a robot equipped with visual sensors, so that it can effectively track a moving target despite obstruction by obstacles. It is an important problem with many applications in robotics. Existing work focuses mostly on the 2-D version of the problem, partly due to the complexity of dealing with 3-D visibility relationships. This paper proposes an online algorithm for 3-D target tracking among obstacles, using only local geometric information available to a robot's visual sensors. Key to this new algorithm is the definition and efficient computation of a risk function, which tries to capture a target's ability in escaping from the robot sensors' visibility region in both short and long terms. The robot then moves to minimize this risk function locally in a greedy fashion. In the absence of occlusion by obstacles, the standard tracking algorithm based on visual servo control can be considered a special case of our algorithm. Experiments show that the new algorithm generated interesting tracking behaviors in three dimensions and performed substantially better than visual servo control in simulation. © 2010 Springer-Verlag Berlin Heidelberg.
Source Title: Springer Tracts in Advanced Robotics
ISBN: 9783642147425
ISSN: 16107438
DOI: 10.1007/978-3-642-14743-2_23
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