PA*: Optimal Path Planning for Perception Tasks

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2016

Autores

Pereira, T (Autor) Outra; Veloso, M (Autor) Outra; António Paulo Moreira (Autor) FEUP

Ata de Conferência Internacional

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

Páginas: 1740-1741

22nd European Conference on Artificial Intelligence (ECAI)

Hague, NETHERLANDS, AUG 29-SEP 02, 2016

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 1 Citação

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 2