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arXiv · 1901.06109

Look before you sweep: Visibility-aware motion planning

Gustavo Goretkin·Leslie Pack Kaelbling·Tomás Lozano-Pérez
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Abstract

This paper addresses the problem of planning for a robot with a directional obstacle-detection sensor that must move through a cluttered environment. The planning objective is to remain safe by finding a path for the complete robot, including sensor, that guarantees that the robot will not move into any part of the workspace before it has been seen by the sensor. Although a great deal of work has addressed a version of this problem in which the "field of view" of the sensor is a sphere around the robot, there is very little work addressing robots with a narrow or occluded field of view. We give a formal definition of the problem, several solution methods with different computational trade-offs, and experimental results in illustrative domains.

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Gustavo Goretkin, Leslie Pack Kaelbling, Tomás Lozano-Pérez. 2019-01-18. Look before you sweep: Visibility-aware motion planning. https://arxiv.org/abs/1901.06109

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