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Sensor beams, obstacles, and possible paths. (English) Zbl 1215.93106
Chirikjian, Gregory S. (ed.) et al., Algorithmic foundations of robotics VIII. Selected contributions of the eighth international workshop on the algorithmic foundations of robotics (WAFR 2008), Guanajuato, MĂ©xico, December 7–9, 2008. Berlin: Springer (ISBN 978-3-642-00311-0/hbk978-3-642-00312-7/ebook). Springer Tracts in Advanced Robotics 57, 317-332 (2010).
Summary: This paper introduces a problem in which an agent (robot, human, or animal) travels among obstacles and binary detection beams. The task is to determine the possible agent path based only on the binary sensor data. This is a basic filtering problem encountered in many settings, which may arise from physical sensor beams or virtual beams that are derived from other sensing modalities. Methods are given for three alternative representations: 1) the possible sequences of regions visited, 2) path descriptions up to homotopy class, and 3) numbers of times winding around obstacles. The solutions are adapted to the minimal sensing setting; therefore, precise estimation, distances, and coordinates are replaced by topological expressions. Applications include sensor-based forensics, assisted living, security, and environmental monitoring.
For the entire collection see [Zbl 1184.68006].

MSC:
93C85 Automated systems (robots, etc.) in control theory
93E11 Filtering in stochastic control theory
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