TitlePhysics-Aware Informative Coverage Planning for Autonomous Vehicles
Publication TypeConference Proceedings
Year of Conference2014
AuthorsKuhlman, MJ, Svec, P, Kaipa, KN, Sofge, DA, Gupta, SK
Conference NameProceedings of the IEEE International Conference on Robotics and Automation
Date Published06/2014
PublisherIEEE Press
Conference LocationHong Kong
Abstract

Unmanned vehicles are emerging as an attractive
tool for persistent monitoring tasks of a given area, but
need automated planning capabilities for effective unattended
deployment. Such an automated planner needs to generate
collision-free coverage paths by steering waypoints to locations
that both minimize the path length and maximize the amount of
information gathered along the path. The approach presented
in this paper significantly extends prior work and handles
motion uncertainty of an unmanned vehicle and the presence of
obstacles by using a Markov Decision Process based approach
to generate collision-free paths. Simulation results show that the
proposed approach is robust to significant motion uncertainties
and reduces the probability of collision with obstacles in the
environment.

Full Text
pdf: 
http://www.nrl.navy.mil/itd/aic/sites/www.nrl.navy.mil.itd.aic/files/pdfs/Kuhlman_2014_ICRA_IP_MDP.pdf
NRL Publication Release Number: 
13-1231-4076
pub_tags: 
autonomous systems
planning