Interactive Navigation in Complex Environments Using Path Planning Salomon et al.(2003) University of North Carolina. Presented by Mohammed Irfan Rafiq Using Slides from Xiaoshan Pan(2003). Motivations.
Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.
Interactive Navigation in Complex Environments Using Path PlanningSalomon et al.(2003) University of North Carolina
Presented by Mohammed Irfan Rafiq
Using Slides from Xiaoshan Pan(2003)
1. Pick a random config. c
2. Can c be a Connector? See any Guards in Rc?
- Yes then connect, goto while (else goto 3)
3. Can c be a Guard? See any Guards in Rg?
- no! c becomes a Guard, connect to connectors (if any), goto while
- yes reject c, goto while
While (map_coverage < P_cover), do// map_coverage = guards_reachable/entire_space
Be a Connector
Be a Guard
set of guards as the new connector, then discard
the new connector
subset of guards that is reachable from the new
connector, then add the new connector and
remove the existing connector
number of connectors is minimized by connector
reachable from at least one guard
lower bound on the ratio Nreachable/N
> 90 with the original direction