Visibility-based planning of sensor control strategies (Q1974462)

For problem in the area of visibility based planning of sensor control strategies of robots, algorithms for automatic sensor placement and control are given. Methods are presented for computing the placements from which a sensor has an unobstructed or partially obstructed view of a target region, enabling the sensor to observe the activity in that region. Especially, algorithms are described for computing the set of sensor placements affording complete or partial visibility of a stationary target, complete visibility of a target at any position or orientation within a goal, and partial visibility of a target moving towards a goal at a known orientation. Some experimental results are given.