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Critical point sensing in unknown environments

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2 Author(s)
E. U. Acar ; Carnegie Mellon Univ., Pittsburgh, PA, USA ; H. Choset

Many motion planning algorithms use Morse functions to characterize the free space. Specifically, these algorithms look at the critical points of a Morse function to denote the topological changes in the free space. This paper introduces methods to sense critical points and ensure all critical points are “seen” by a coverage algorithm. Experimental results performed on a mobile robot are also presented

Published in:

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:4 )

Date of Conference: