View planning with time constraints: an adaptive sampling approach

Lars Kunze, Mohan Sridharan, Christos Dimitrakakis, Jeremy Wyatt

Research output: Chapter in Book/Report/Conference proceedingConference contribution

39 Downloads (Pure)

Abstract

Planning for object search requires the generation and sequencing of views in a continuous space. These generated plans need to consider the effect of overlapping views, and there is typically a limit imposed on the time taken to compute and execute the plans. We formulate this challenging problem of
view planning in the presence of overlapping views and time constraints as an Orienteering Problem with history-dependent rewards. In this paper, we focus on the aspect of the problem in which the plan execution time is constrained, but not the planning time. We abstract away the unreliability of perception,
and present a sampling-based view planner that simultaneously selects a set of views and a route through them, and incorporates a prior over object locations. We show that our approach outperforms the state of the art methods for the orienteering problem. All algorithms are evaluated in four environments
that vary in size and complexity, using a robot simulator that includes a realistic model of robot dynamics. We also demonstrate the robustness of our approach through long-term robot deployment in a real-world environment.
Original languageEnglish
Title of host publicationWorkshop on AI Planning and Robotics: Challenges and Methods (AIPlanRob)
Subtitle of host publicationat the International Conference on Robotics and Automation (ICRA 2017)
Number of pages6
Publication statusPublished - 29 May 2017
Event2017 IEEE International Conference on Robotics and Automation (ICRA 2017) - Singapore
Duration: 29 May 20173 Jun 2017

Conference

Conference2017 IEEE International Conference on Robotics and Automation (ICRA 2017)
CitySingapore
Period29/05/173/06/17

Fingerprint

Dive into the research topics of 'View planning with time constraints: an adaptive sampling approach'. Together they form a unique fingerprint.

Cite this