Covert Robotics: hiding in known environments

Marzouqi, Mohamed Al; Jarvis, Ray

doi:10.1109/ramech.2004.1438021

Cited by 10 publications

(22 citation statements)

References 3 publications

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“…For landmark-or snapshot-based navigation systems, sensing is critical to correctly detecting and discriminating between different landmark configurations or snapshot templates. When planning a path to a goal, motivating factors can vary immensely from concrete task constraints: minimizing time duration to reach the goal [72], distance travelled [10], energy consumed, to more abstracted concepts: planning a path that minimizes the chance of getting lost along the way [100], or the chance of being observed by hostile agents in the environment [101]. These concepts are all broadly relevant to animal navigation.…”

Section: Path Planning and Navigation (A) Robotic Path Planning And Nmentioning

confidence: 99%

Principles of goal-directed spatial robot navigation in biomimetic models

Milford

Schulz

2014

Phil. Trans. R. Soc. B

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One contribution of 18 to a Theme Issue 'The principles of goal-directed decisionmaking: from neural mechanisms to computation and robotics'. Mobile robots and animals alike must effectively navigate their environments in order to achieve their goals. For animals goal-directed navigation facilitates finding food, seeking shelter or migration; similarly robots perform goaldirected navigation to find a charging station, get out of the rain or guide a person to a destination. This similarity in tasks extends to the environment as well; increasingly, mobile robots are operating in the same underwater, ground and aerial environments that animals do. Yet despite these similarities, goal-directed navigation research in robotics and biology has proceeded largely in parallel, linked only by a small amount of interdisciplinary research spanning both areas. Most state-of-the-art robotic navigation systems employ a range of sensors, world representations and navigation algorithms that seem far removed from what we know of how animals navigate; their navigation systems are shaped by key principles of navigation in 'real-world' environments including dealing with uncertainty in sensing, landmark observation and world modelling. By contrast, biomimetic animal navigation models produce plausible animal navigation behaviour in a range of laboratory experimental navigation paradigms, typically without addressing many of these robotic navigation principles. In this paper, we attempt to link robotics and biology by reviewing the current state of the art in conventional and biomimetic goal-directed navigation models, focusing on the key principles of goal-oriented robotic navigation and the extent to which these principles have been adapted by biomimetic navigation models and why.

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Section: Path Planning and Navigation (A) Robotic Path Planning And Nmentioning

confidence: 99%

Principles of goal-directed spatial robot navigation in biomimetic models

Milford

Schulz

2014

Phil. Trans. R. Soc. B

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“…Extensions of the original robot navigation problem include covert robotic [172] (move a robot while escaping sentinels' notice), real-time detection and navigation [257], outdoor robot navigation using vision [56], robot exploration with industrial applications [260,261,262], and multidimensional alignment [138]. Since all such extensions rely on the computing the distance transform, they can be performed using the Computational Convex Analysis algorithms.…”

Section: Network Flowmentioning

confidence: 99%

What Shape Is Your Conjugate? A Survey of Computational Convex Analysis and Its Applications

Lucet¹

2010

SIAM Rev.

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Abstract. Computational Convex Analysis algorithms have been rediscovered several times in the past by researchers from different fields. To further communications between practitioners, we review the field of Computational Convex Analysis, which focuses on the numerical computation of fundamental transforms arising from convex analysis. Current models use symbolic, numeric, and hybrid symbolic-numeric algorithms. Our objective is to disseminate widely the most efficient numerical algorithms useful for applications in image processing (computing the distance transform, the generalized distance transform, and mathematical morphology operators), partial differential equations (solving Hamilton-Jacobi equations, and using differential equations numerical schemes to compute the convex envelope), max-plus algebra (computing the equivalent of the Fast Fourier Transform), multi-fractal analysis, etc. The fields of applications include, among others, computer vision, robot navigation, thermodynamics, electrical networks, medical imaging, and network communication.

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“…In this algorithm the environment is represented by a two dimensional map of exact cell decomposition, each of its cells representing either a free-space or an obstacle [2], [21]. The distance cost for each cell is derived based on propagating the distance costs of the surrounding cells.…”

Section: Global Algorithmsmentioning

confidence: 99%

“…All other cells are initially set to a very high value. The process is constructed as a two pass traversal of the 2D map array [21]: a forward raster order pass (left to right, top to bottom), and a reverse raster order pass (right to left, bottom to top). In each pass, each free-space cell (obstacles are skipped) is assigned a value of one greater than the least value of the four neighbors previously visited on that pass, this assignment occurs only if the new value is less than the previous value at that cell.…”

Section: Global Algorithmsmentioning

confidence: 99%

An interactive tool for mobile robot motion planning

Guzmán

Berenguel

Rodríguez

et al. 2008

Robotics and Autonomous Systems

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Mobile robotics is a subject included in several engineering curricula at present. The continuous increase in computer processing power allows the use of interactive tools to merge the synthesis and analysis phases of classical engineering iterative design techniques into one, being possible to apply these advantages to the robotics field. An interactive tool is presented in this work aimed at facilitating the understanding of several well-known algorithms and techniques involved in solving mobile robot motion problems, from those modelling the mechanics of mobility to those used in navigation. The paper also discuses how the tool can be used in an introductory course of mobile robotics.

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Covert Robotics: hiding in known environments

Cited by 10 publications

References 3 publications

Principles of goal-directed spatial robot navigation in biomimetic models

Principles of goal-directed spatial robot navigation in biomimetic models

What Shape Is Your Conjugate? A Survey of Computational Convex Analysis and Its Applications

An interactive tool for mobile robot motion planning

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