About: A Sensor Placement Algorithm for a Mobile Robot Inspection Planning

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An Entity of Type : http://linked.opendata.cz/ontology/domain/vavai/Vysledek, within Data Space : linked.opendata.cz associated with source document(s)

Attributes	Values
rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
rdfs:seeAlso	http://www.springerlink.com/content/aj8121566g735786/
Description	In this paper, we address the inspection planning problem to %22see%22 the whole area of the given workspace by a mobile robot. The problem is decoupled into the sensor placement problem and the multi-goal path planning problem to visit found sensing locations. However the decoupled approach provides a feasible solution, its overall quality can be poor, because the sub-problems are solved independently. We propose a new randomized approach that considers the path planning problem during solution of the sensor placement problem. The proposed algorithm is based on a guiding of the randomization process according to prior knowledge about the environment. The algorithm is compared with two algorithms already used in the inspection planning. Performance of the algorithms is evaluated in several real environments and for a set of visibility ranges. The proposed algorithm provides better solutions in both evaluated criterions: a number of sensing locations and a length of the inspecti In this paper, we address the inspection planning problem to %22see%22 the whole area of the given workspace by a mobile robot. The problem is decoupled into the sensor placement problem and the multi-goal path planning problem to visit found sensing locations. However the decoupled approach provides a feasible solution, its overall quality can be poor, because the sub-problems are solved independently. We propose a new randomized approach that considers the path planning problem during solution of the sensor placement problem. The proposed algorithm is based on a guiding of the randomization process according to prior knowledge about the environment. The algorithm is compared with two algorithms already used in the inspection planning. Performance of the algorithms is evaluated in several real environments and for a set of visibility ranges. The proposed algorithm provides better solutions in both evaluated criterions: a number of sensing locations and a length of the inspecti (en)
Title	A Sensor Placement Algorithm for a Mobile Robot Inspection Planning A Sensor Placement Algorithm for a Mobile Robot Inspection Planning (en)
skos:prefLabel	A Sensor Placement Algorithm for a Mobile Robot Inspection Planning A Sensor Placement Algorithm for a Mobile Robot Inspection Planning (en)
skos:notation	RIV/68407700:21230/11:00171597!RIV12-MSM-21230___
http://linked.open...avai/riv/aktivita	P
http://linked.open...avai/riv/aktivity	P(2C06005)
http://linked.open...iv/cisloPeriodika	3-4
http://linked.open...vai/riv/dodaniDat	2012
http://linked.open...aciTvurceVysledku	Kulich, Miroslav Přeučil, Libor Faigl, Jan
http://linked.open.../riv/druhVysledku	J - Článek v odborném periodiku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	České vysoké učení technické v Praze / Fakulta elektrotechnická
http://linked.open...dnocenehoVysledku	184135
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/11:00171597
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Sensor placement; Mobile robotics; Inspection path planning; Art gallery problem (en)
http://linked.open.../riv/klicoveSlovo	Art gallery problem Inspection path planning Mobile robotics Sensor placement
http://linked.open...odStatuVydavatele	NL - Nizozemsko
http://linked.open...ontrolniKodProRIV	[63D195FBE514]
http://linked.open...i/riv/nazevZdroje	Journal of Intelligent and Robotic Systems
http://linked.open...in/vavai/riv/obor	JC
http://linked.open...ichTvurcuVysledku	3 (xsd:int)
http://linked.open...cetTvurcuVysledku	3 (xsd:int)
http://linked.open...vavai/riv/projekt	A System for robotic e-learning
http://linked.open...UplatneniVysledku	2011
http://linked.open...v/svazekPeriodika	62
http://linked.open...iv/tvurceVysledku	Faigl, Jan Kulich, Miroslav Přeučil, Libor
http://linked.open...ain/vavai/riv/wos	000290277600002
issn	0921-0296
number of pages	25 (xsd:int)
http://bibframe.org/vocab/doi	10.1007/s10846-010-9449-0
http://localhost/t...ganizacniJednotka	21230

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