Critical Point Sensing in Unknown Environments
نویسندگان
چکیده
Many motion planning algorithms use Morse functions to characterize the free space. Speci cally, these algorithms look at the critical points of a Morse function to denote the topological changes in the free space. This paper introduces methods to sense critical points and ensure all critical points are \seen" by a coverage algorithm. Experimental results performed on a mobile robot are also presented.
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