Covert robotics: improving covertness with escapability and non-line-of-sight sensing

摘要: Covert robotics is an application that presents many challenges in perception, modeling, and planning due to the need minimize visibility within environment while perceiving as much possible reacting appropriate events. We have modified a Pioneer 3-AT robot for night operation incorporated microphone array acoustic sensing of sentries. Extending previous research [1] [2] [3], we developed novel method considering value goals with respect escap-ability: measure degree location affords escape if detection imminent (Fig. 1). Our simulation analysis demonstrates using escapability goal selection results 25 percent decrease time visible sentry.