A Framework for Reactive Motion and Sensing Planning: A Critical Events-Based Approach

We propose a framework for reactive motion and sensing planning based on critical events. A critical event amounts to crossing a critical curve, which divides the environment. We have applied our approach to two different problems: i) object finding and ii) pursuit-evasion. We claim that the proposed framework is in general useful for reactive motion planning based on information provided by sensors. We generalize and formalize the approach and suggest other possible applications.

• Type: Conference
• Year: 2005
• Where: MICAI
• Authors: Rafael Murrieta-Cid, Alejandro Sarmiento, Teja Muppirala, Seth Hutchinson, Raul Monroy, Moises Alencastre-Miranda, Lourdes Muñoz-Gómez, Ricardo Swain Oropeza
• Keywords: Artificial Intelligence, Critical Event, Critical Event Amounts, MICAI 2005, Reactive Motion