We propose a framework for reactive motion and sensing planning based on critical events. A critical event amounts to crossing a critical curve, which divides the environment. We have applied our approach to two different problems: i) object finding and ii) pursuit-evasion. We claim that the proposed framework is in general useful for reactive motion planning based on information provided by sensors. We generalize and formalize the approach and suggest other possible applications. © Springer-Verlag Berlin Heidelberg 2005.
CITATION STYLE
Murrieta-Cid, R., Sarmiento, A., Muppirala, T., Hutchinson, S., Monroy, R., Alencastre, M., … Swain, R. (2005). A framework for reactive motion and sensing planning: A critical events-based approach. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 3789 LNAI, pp. 990–1000). https://doi.org/10.1007/11579427_101
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