A Terrain-Covering Algorithm for an AUV

Hert, Susan; Tiwari, Sanjay; Lumelsky, V.

doi:10.1007/978-1-4613-1419-6_2

Cited by 80 publications

(34 citation statements)

References 11 publications

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“…Previous research in the searching domain has focused on "lawnmower" style patterns of mapping an area [4,15,26,[42][43][44]. However, this process deteriorates as more vehicles are added.…”

Section: Limitations Of Current Search Methodsmentioning

confidence: 99%

Autonomous cooperation of heterogeneous platforms for sea-based search tasks

et al. 2008

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Many current methods of search using autonomous marine vehicles do not adapt to changes in mission objectives or the environment. A cellular-decomposition-based framework for cooperative, adaptive search is proposed that allows multiple search platforms to adapt to changes in both mission objectives and environmental parameters. Software modules for the autonomy framework MOOS-IvP are described that implement this framework. Simulated and experimental results show that it is feasible to combine both pre-planned and adaptive behaviors to effectively search a target area.

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Section: Limitations Of Current Search Methodsmentioning

confidence: 99%

Autonomous cooperation of heterogeneous platforms for sea-based search tasks

et al. 2008

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“…The methods are based on a few different general approaches: road map, cell decomposition, and potential field (Latomb, 1991). The global path planning approach addressed in this paper is based on the cell decomposition method and particularly on the semi-approximate method (Hert et al, 1996). As stated in (Choset,2001),a cell decomposition breaks down the target region into cells such that coverage in each cell is "simple" enough to make it easy to compute a path between any two robot configurations in the cell.…”

Section: Existing Coverage Techniquementioning

confidence: 99%

Advances in Sea Coverage Methods Using Autonomous Underwater Vehicles (AUVs)

Jung¹,

Lee²,

Lee³

2008

Recent Advances in Multi Robot Systems

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“…Finally, the approach in Hert et al, 1996 is not complete. The primary contribution of the algorithm supplied by Hert et al, 1996 is that it is incremental, and thus may lead to a sensor based implementation on a mobile robot.…”

Section: Prior Work In Coveragementioning

confidence: 99%

Coverage Path Planning: The Boustrophedon Cellular Decomposition

Choset

Pignon²

1998

Field and Service Robotics

492

410

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Coverage path planning is the determination of a path that a robot must take in order to pass over each point i n a n e n vironment. Applications include vacuuming, oor scrubbing, and inspection. We developed the boustrophedon cellular decomposition, which is an exact cellular decomposition approach, for the purposes of coverage. Each cell in the boustrophedon is covered with simple back and forth motions. Once each cell is covered, then the entire environment i s c o v ered. Therefore, coverage is reduced to nding an exhaustive path through a graph which represents the adjacency relationships of the cells in the boustrophedon decomposition. This approach is provably complete and Experiments on a mobile robot validate this approach.

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A Terrain-Covering Algorithm for an AUV

Cited by 80 publications

References 11 publications

Autonomous cooperation of heterogeneous platforms for sea-based search tasks

Autonomous cooperation of heterogeneous platforms for sea-based search tasks

Advances in Sea Coverage Methods Using Autonomous Underwater Vehicles (AUVs)

Coverage Path Planning: The Boustrophedon Cellular Decomposition

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