TY - GEN
T1 - Approximation Algorithms for Tours of Orientation-Varying View Cones
AU - Stefas, Nikolaos
AU - Plonski, Patrick A.
AU - Isler, Volkan I
N1 - Publisher Copyright:
© 2018 IEEE.
Copyright:
Copyright 2019 Elsevier B.V., All rights reserved.
PY - 2018/9/10
Y1 - 2018/9/10
N2 - This paper considers the problem of finding the shortest tour to cover a given set of inverted cone views with apex angle alpha and height H when their apex points lie on a planar surface. This is a novel variant of the 3D Traveling Salesman Problem with intersecting Neighborhoods (TSPN) called Cone-Tspn. When the cones are allowed to tilt by an angle epsilon we have the tilted Cone-Tspn problem, to which we present an algorithm that returns a solution with an approximation ratio of Oleft(frac 1+tanalpha 1-tanepsilontanalpha left(1+logfrac max(H) min(H) right)right). We demonstrate through simulations that our algorithm can be implemented in a practical way and by exploiting the structure of the cones we can achieve shorter tours. Finally, we present results from covering a reflective surface (lake area) that shows the importance of selecting different view angles under strong sunlight specularities.
AB - This paper considers the problem of finding the shortest tour to cover a given set of inverted cone views with apex angle alpha and height H when their apex points lie on a planar surface. This is a novel variant of the 3D Traveling Salesman Problem with intersecting Neighborhoods (TSPN) called Cone-Tspn. When the cones are allowed to tilt by an angle epsilon we have the tilted Cone-Tspn problem, to which we present an algorithm that returns a solution with an approximation ratio of Oleft(frac 1+tanalpha 1-tanepsilontanalpha left(1+logfrac max(H) min(H) right)right). We demonstrate through simulations that our algorithm can be implemented in a practical way and by exploiting the structure of the cones we can achieve shorter tours. Finally, we present results from covering a reflective surface (lake area) that shows the importance of selecting different view angles under strong sunlight specularities.
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U2 - 10.1109/ICRA.2018.8462908
DO - 10.1109/ICRA.2018.8462908
M3 - Conference contribution
AN - SCOPUS:85063134945
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3910
EP - 3915
BT - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Y2 - 21 May 2018 through 25 May 2018
ER -