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Automatic Sensor Placement For Complex Three-dimensional Inspection and Exploration

François-Michel De Rainville, Christian Gagné and Denis Laurendeau

Abstract - This paper describes an end-to-end system for positioning sensors to observe desired parts of arbitrary initially unknown three-dimensional environments. The system finds the appropriate number of sensors and their configuration using a derivative-free cooperative optimization algorithm relying on a visibility estimation cost function. The system is tested of scenarios with different types of sensors and observation tasks. The first scenario implies six degrees of freedom floating robots to inspect a broken part of the international space station, while the second scenario involves three degrees of freedom rovers gathering information on a stuck vehicle.

Bibtex:

@inproceedings{Rainville1065,
author    = { François-Michel De Rainville and Christian Gagné and Denis Laurendeau },
title     = { Automatic Sensor Placement For Complex Three-dimensional Inspection and Exploration },
booktitle = { Proc. of the International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS) },
year      = { 2014 },
location  = { Montreal, QC, Canada }
}

Last modification: 2014/07/13 by cgagne

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