Robust Geometric Algorithms for Sensor Planning

We consider the problem of planning sensor strategies that enable a sensor to be automatically con gured for robot tasks. In this paper we present robust and e cient algorithms for computing the regions from which a sensor has unobstructed or partially obstructed views of a target in a goal. We apply these algorithms to the Error Detection and Recovery problem of recognizing whether a goal or failure region has been achieved. Based on these methods and strategies for visually-cued camera control, we have built a robot surveillance system in which one mobile robot navigates to a viewing position from which it has an unobstructed view of a goal region, and then uses visual recognition to detect when a speci c target has entered the room.

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