Search-based Planning for Active Sensing in Goal-Directed Coverage Tasks
Tushar Kusnur Dhruv Mauria Saxena Maxim Likhachev Tushar Kusnur Dhruv Mauria Saxena Maxim Likhachev
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over onboard observational sensors during navigation. We address the problem of planning robot and sensor trajectories that maximize information gain in such tasks, where...