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On the existence of a strategy to maintain a moving target within the sensing range of an observer reacting with delay

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3 Author(s)
Murrieta, R. ; Beckman Inst. for Adv. Sci. & Technol., Illinois Univ., Urbana, IL, USA ; Sarmientoy, A. ; Hutchinson, S.

This paper deals with the problem of computing the motions of a robot observer in order to maintain visibility of a moving target. The target moves unpredictably, and the distribution of obstacles in the workspace is known in advance. Our algorithm computes a motion strategy based on partitioning the configuration space and the workspace in non-critical regions separated by critical curves. In this work, the existence of a solution for a given polygon and delay are determined.

Published in:

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on  (Volume:2 )

Date of Conference:

27-31 Oct. 2003