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Summary: Fast Positioning of Limited-Visibility Guards
for the Inspection of 2D Workspaces
Giorgos D. Kazazakis, Antonis A. Argyros
Institute of Computer Science,
Foundation for Research and Technology-Hellas
Heraklion, Crete, Greece
e-mail: {kazaz, argyros}@ics.forth.gr
Abstract
This paper presents a novel method for deciding the
locations of "guards" required to visually inspect a
given 2D workspace. The decided guard positions can
then be used as control points in the path of a mo-
bile robot that autonomously inspects a workspace. It
is assumed that each of the guards (or the mobile
robot that visits the guard positions in some order)
is equipped with a panoramic camera of 360 degrees
field of view. However, the camera has limited visi-
bility, in the sense that it can observe with sufficient
detail objects that are not further than a predefined
visibility range. The method seeks to efficiently pro-
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