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Predictable Motion in Unpredictable Domains: The Spotlight Tracking Problem

We introduce the spotlight tracking problem, the problem of having a vehicle stay within a moving tolerance constraint boundary along a nominal path while avoiding obstacles. The formulation models situations where multivehicle coordination must be achieved based on pre-mission commitments, due to communication and observation constraints. The problem is analytically intractable, and we present and evaluate five heuristic solutions that incorporate varying amounts of known or estimated path information to solve the problem. Performance assessment is in terms of maximum velocity, acceleration, and smoothness of the velocity profiles generated by the five methods in simulation. The results demonstrate that a tracking method that incorporates both local geometric information and estimates of total path length performs the best.

Type of Seminar:
Ph.D. Seminar
Kimberly Chung
Apr 10, 2007   16:15

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Melanie Zeilinger
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