Bob and Howie's Excellent Outline
Outline w/papers
I. Intro
II. Bug Algorithms
- A. Bug2
- 1. Completeness
- 2. Wall Following: Numeric Continuation Methods
- 3. Centerline Sonar Model: distance to closest obstacle
- 4. Does the robot really reach the goal?
- B. TanBug
- C. WedgeBug
- D. Others??
III. Configuration Space, Part I
IV. Potential Functions
- A. Attractive/Repulsive Functions
- 1. Positive Charge Analogy and Hill Climbing
- 2. Distance Function
- Definition and gradient
- Centerline Sonar Model: Distance to all obstacles
- Local Minima in sensor array
- Brushfire algorithm
- 3. Potential Function Definition
- Functional Definition
- Gradient Descent (Minima, maxima, saddle)
- Direct Sensor Measurements
- Vectorfield Histogram
- Brushfire
- 4. Combination of Functions (related to behavioral-based)
- Piece-wise potential functions
- B. Local Minimum Problem -- trapped
- Extending forces (solutions)
- C. Navigation Functions
- D. Randomized Potentials??? (Here or probabilistic techniques chap)
V. Configuration Space, Part II
- A. Polygonal Obstacles
- B. Some higher dims
VI. Pixel-Based Maps, Part I
- A. Search a grid (Advertise Numerical Recipes)
- 1. Depth-first, breadth first
- 2. Dijkstra's Algorithm
- 3. A* (some basic thing)
- 4. D*
- B. Frontier Exploration
- C. Maybe Borenstein here....??
- D. Framed Quad-Trees
VI. Roadmaps
- A. Visibility Graph
- B. Canny's Roadmap
- C. OPP
- D. GVG
- E. Place Maps
VII. Probabilistic Motion Planning Techniques
- A. Probability Primer
- B. Probabilistic potential functions (??? here or above)
- C. Roadmaps
- D. RRT's
VIII. Pixel-Based Maps, Part II
- A. Probability Primer
- B. Occupancy
- C. Hybrid Approaches
IX. Simultaneous Localization and Mapping
- A. Kalman
- B. Bayesian
- C. Topological Localization
X. Visibility Based
- A. Art Gallery
- B. Voronoi Diagram
- C. Pursuer-Evader
XI. Coverage (Cell Decompositions)
- A. Trapezoid
- B. Boustrophedon and related approaches
- C. Collins Cellular Decomposition
- D. Approximate Cellular Decomposition and Coverage Algorithms
XII. Non-holonomic Path Planning
XIII. Visual Servoing
Return to the bug algorithm in coverage