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Robotic Path Planning and Visibility with Limited Sensor Data

Landa, Yanina and Galkowski, David and Huang, Yuan R. and Joshi, Abhijeet and Lee, Christine and Leung, Kevin K. and Malla, Gitendra and Treanor, Jennifer and Voroninski, Vlad and Bertozzi, Andrea L. and Tsai, Yen-Hsi R. (2007) Robotic Path Planning and Visibility with Limited Sensor Data. In: 2007 American Control Conference. IEEE , Piscataway, NJ, pp. 5425-5430. ISBN 1-4244-0988-8.

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Autonomous robotic systems (observers) equipped with range sensors must be able to discover their surroundings, in an initially unknown environment, for navigational purposes. We present an implementation of a recent environment- mapping algorithm [1] based on Essentially Non-oscillatory (ENO) interpolation [2]. An economical cooperative control tank-based platform [3] is used to validate our algorithm. Each vehicle on the test-bed is equipped with a flexible caterpillar drive, range sensor, limited onboard computing, and wireless communication.

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Additional Information:© 2007 IEEE. This research was supported as part of the Research in Industrial Projects for Students (RIPS) program at the Institute for Pure and Applied Mathematics (IPAM), and funded by NSF grant DMS-0439872 and NSA grant H98230-06-1-0057. We would like to thank Matthew Sottile who was a RIPS industrial mentor from Los Alamos National Laboratory. Additionally, this research was supported by NSF grant DMS-0601395, ARO MURI grant 50363-MA-MUR, ONR grant N000140610059, ARO grant W911NF-05-1-0112, and NSF grant DMS-0513394.
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Institute for Pure and Applied MathematicsUNSPECIFIED
National Security Agency (NSA)H98230-06-1-0057
Army Research Office (ARO)50363-MA-MURI
Office of Naval Research (ONR)N000140610059
Army Research Office (ARO)W911NF-05-1-0112
Record Number:CaltechAUTHORS:20170426-171613649
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Official Citation:Y. Landa et al., "Robotic Path Planning and Visibility with Limited Sensor Data," 2007 American Control Conference, New York, NY, 2007, pp. 5425-5430. doi: 10.1109/ACC.2007.4282381
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:76971
Deposited By: Kristin Buxton
Deposited On:27 Apr 2017 01:53
Last Modified:03 Oct 2019 17:52

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