1. View Planning with Traveling Cost (Traveling VPP):
A Primal Dual Algorithm Based on the Unified Problem Formulation
--- Pengpeng Wang, School of Engineering Science, Simon Fraser University
I. Introduction: Traveling VPP
3. Integer Program Formulation
• Inspect object surface completely
• Realize sensor actions by robot movements
• Minimize total costs:
--- Sensing costs: number of views
--- Traveling costs: robot path length
Complete coverage requirement
Connection requirement
Unified formulation to facilitate the optimal solution
2. Related Work: 2-level Framework
4. Primal Dual Algorithm
• First level: view planning problem (VPP)
--- Minimize number of views
• Second Level: Traveling Salesman problem (TSP)
--- Minimize traveling cost
• Modified first level: to address sensing and traveling (distance to the start position) tradeoff
5. Performance Analysis
Counter example (two level framework performs arbitrarily bad)
• Views planned in optimal solution are close to each other
• Two level framework:
--- First level ignores traveling cost. Views planned can be far apart
--- Far-apart views result in excessive traveling cost.
Same example (edge costs added)
Level I (modified sensing costs)
--- v1, v2 and v4 are chosen.
Level II (shortest path)
--- Recover the optimal solution