Star-Convex Constrained Optimization for Visibility Planning with Application to Aerial Inspection
Tianyu Liu,Qianhao Wang,Xingguang Zhong,Zhepei Wang,Chao Xu,Fu Zhang,Fei Gao,Tianyu Liu,Qianhao Wang,Xingguang Zhong,Zhepei Wang,Chao Xu,Fu Zhang,Fei Gao
The visible capability is critical in many robot applications, such as inspection and surveillance, etc. Without the assurance of the visibility to targets, some tasks end up not being complete or even failing. In this paper, we propose a visibility guaranteed planner by star-convex constrained optimization. The visible space is modeled as star convex polytope (SCP) by nature and is generated by f...
