TY - JOUR
T1 - Evolutionary computation for sensor planning
T2 - The task distribution plan
AU - Dunn, Enrique
AU - Olague, Gustave
PY - 2003/7/1
Y1 - 2003/7/1
N2 - Autonomous sensor planning is a problem of interest to scientists in the fields of computer vision, robotics, and photogrammetry. In automated visual tasks, a sensing planner must make complex and critical decisions involving sensor placement and the sensing task specification. This paper addresses the problem of specifying sensing tasks for a multiple manipulator workcell given an optimal sensor placement configuration. The problem is conceptually divided in two different phases: activity assignment and tour planning. To solve such problems, an optimization methodology based on evolutionary computation is developed. Operational limitations originated from the workcell configuration are considered using specialized heuristics as well as a floating-point representation based on the random keys approach. Experiments and performance results are presented.
AB - Autonomous sensor planning is a problem of interest to scientists in the fields of computer vision, robotics, and photogrammetry. In automated visual tasks, a sensing planner must make complex and critical decisions involving sensor placement and the sensing task specification. This paper addresses the problem of specifying sensing tasks for a multiple manipulator workcell given an optimal sensor placement configuration. The problem is conceptually divided in two different phases: activity assignment and tour planning. To solve such problems, an optimization methodology based on evolutionary computation is developed. Operational limitations originated from the workcell configuration are considered using specialized heuristics as well as a floating-point representation based on the random keys approach. Experiments and performance results are presented.
KW - Combinatorial optimization
KW - Evolutionary computing
KW - Random keys
KW - Sensor planning
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U2 - 10.1155/S1110865703303075
DO - 10.1155/S1110865703303075
M3 - Article
AN - SCOPUS:0041430792
SN - 1110-8657
VL - 2003
SP - 748
EP - 756
JO - Eurasip Journal on Applied Signal Processing
JF - Eurasip Journal on Applied Signal Processing
IS - 8
ER -