Robust sensor-based coverage of unstructured environments
نویسندگان
چکیده
Sensor-based coverage uses sensor information to determine a path that passes a detector or some e ector over all points in an unknown space. This work identies features of a provably complete coverage algorithm to reject \bad" sensor readings in unstructured environments without performing complicated sensor-data processing. First, we brie y review our provably complete sensor-based coverage algorithm that uses an exact cellular decomposition in terms of critical points of Morse functions. Then we present features of the algorithm that are used to overcome failures due to bad sensor data. We veri ed our approach by performing experiments using a mobile robot that has 16 ultrasonic sensors.
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Mobile-robot navigation with complete coverage of unstructured environments
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