TY - GEN
T1 - Visibility in motion
AU - Urtis, Esra Kadioglu
AU - Fiore, Loren
AU - Papanikolopoulos, Nikolaos
PY - 2007
Y1 - 2007
N2 - We address the problem of determining and obtaining the visibility of a moving target from multiple angles using a mobile robot. The pursuer uses a modified form of pursuit curve in order to reach the aim point (or multiple aim points) which is at a pre-determined distance and angle from the target. Unlike existing works that track a target to localize it, or follow a target by keeping it in the current frame of view generally from behind the target, the focus of our work is on an efficient pursuit of the target such that a certain set of images of it from various orientations can be acquired. We present a method to approach a target in motion from various angles and an analysis of whether the task completion is possible in the cases of a target performing a random walk and an adversarial target
AB - We address the problem of determining and obtaining the visibility of a moving target from multiple angles using a mobile robot. The pursuer uses a modified form of pursuit curve in order to reach the aim point (or multiple aim points) which is at a pre-determined distance and angle from the target. Unlike existing works that track a target to localize it, or follow a target by keeping it in the current frame of view generally from behind the target, the focus of our work is on an efficient pursuit of the target such that a certain set of images of it from various orientations can be acquired. We present a method to approach a target in motion from various angles and an analysis of whether the task completion is possible in the cases of a target performing a random walk and an adversarial target
UR - http://www.scopus.com/inward/record.url?scp=51349089189&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51349089189&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399202
DO - 10.1109/IROS.2007.4399202
M3 - Conference contribution
AN - SCOPUS:51349089189
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 997
EP - 1002
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -