Completeness Seeking Probabilistic Coverage Estimation using Uncertain State Estimates
Aditya Mahajan,Stephen Rock,Aditya Mahajan,Stephen Rock
This paper develops a coverage-centric adaptive path planner to visually survey a planar environment. This is achieved by modifying an existing path planning architecture to use a novel coverage estimation approach called convolved coverage estimation (CCE). The planner maximizes the probability of terrain coverage and exploits terrain features for loop closure to keep path uncertainty in check. T...
