PA*: Optimal Path Planning for Perception Tasks

• Type: Article in International Conference Proceedings Book
• Date: 2016

Authors

Pereira, T (Author) Other; Veloso, M (Author) Other; António Paulo Moreira (Author) FEUP

Conference proceedings International

Title: ECAI 2016: 22ND EUROPEAN CONFERENCE ON ARTIFICIAL INTELLIGENCE

Pages: 1740-1741

22nd European Conference on Artificial Intelligence (ECAI)

Hague, NETHERLANDS, AUG 29-SEP 02, 2016

Indexing

ISI Web of Knowledge - 0 Citations

Scopus - 1 Citation

Other information

Authenticus ID: P-00M-5D0

DOI: 10.3233/978-1-61499-672-9-1740

Abstract (EN): In this paper we introduce the problem of planning for perception of a target position. Given a sensing target, the robot has to move to a goal position from where the target can be perceived. Our algorithm minimizes the overall path cost as a function of both motion and perception costs, given an initial robot position and a sensing target. We contribute a heuristic search method, PA*, that efficiently searches for an optimal path. We prove the proposed heuristic is admissible, and introduce a new goal state stopping condition.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 2