Extensions to Feedback Motion Planning

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Hashemi, Negar | 2013

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 45006 (19)
University: Sharif University of Technology
Department: Computer Engineering
Advisor(s): Ghodsi, Mohammad; Abam, Mohammad Ali
Abstract:
One of the ultimate goals in robotics is to design autonomous robots. Among other things, this means a robot has to be able to plan its own motion. To be able to plan a motion, a robot must have some knowledge about the environment in which it is moving. Some of this information can be provided by a floor plan. For other information the robot will have to rely on its sensors. In this thesis, we consider that the environment is unknown for the robot. So, the robot uses weak sensor to planning its motion. The sensor can distinguish between colors. The robot can follow the colors. Therefore, we need to specify the umber of colors in which the robot can navigate by them. We propose an efficient and suitable algorithm for placing the landmarks in the polygons. Also, we demonstrate the upper bound of the number of colors for some kind of polygons
Keywords:
Computational Geometry ; Art Gallery Problem ; Motion Planning ; Feedback Motion Planning ; Visibility Algorithm