A paradigm for incorporating vision in the robot navigation function

Abstract

The authors present a paradigm for combining vision with motion planning. It turns out that extensive modifications of so-called tactile algorithms are needed to take full advantage of the additional sensing capabilities, while not sacrificing the algorithm convergence. Different design principles can be introduced that result in algorithm versions exhibiting different styles of behavior and producing different paths, without, in general, being superior to each other.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>