Visibility-based Optimal Path and Motion Planning

  • Paul Keng-Chieh Wang

Part of the Studies in Computational Intelligence book series (SCI, volume 568)

Table of contents

  1. Front Matter
    Pages i-viii
  2. Paul Keng-Chieh Wang
    Pages 1-5
  3. Paul Keng-Chieh Wang
    Pages 7-34
  4. Paul Keng-Chieh Wang
    Pages 35-78
  5. Paul Keng-Chieh Wang
    Pages 79-99
  6. Paul Keng-Chieh Wang
    Pages 101-139
  7. Back Matter
    Pages 191-198

About this book


This monograph deals with various visibility-based path and motion planning problems motivated by real-world applications such as exploration and mapping planetary surfaces, environmental surveillance using stationary or mobile robots, and imaging of global air/pollutant circulation. The formulation and solution of these problems call for concepts and methods from many areas of applied mathematics including computational geometry, set-covering, non-smooth optimization, combinatorial optimization and optimal control. Emphasis is placed on the formulation of new problems and methods of approach to these problems. Since geometry and visualization play important roles in the understanding of these problems, intuitive interpretations of the basic concepts are presented before detailed mathematical development. The development of a particular topic begins with simple cases illustrated by specific examples, and then progresses forward to more complex cases.

The intended readers of this monograph are primarily students and researchers in engineering, computer science and applied mathematics. An understanding of the mathematical development of the main results requires only basic knowledge of mathematical analysis, control, and optimization theories. Some exercises with various degrees of difficulty are provided at the end of the main chapters. The material presented here may serve as a portion of an introductory course or seminar on visibility-based optimal path and motion planning problems with the objective of stimulating interest and further studies in this relatively new area.


Computational Intelligence Optimal Path and Motion Planning Optimal Stationary Observer Allocation Visibility

Authors and affiliations

  • Paul Keng-Chieh Wang
    • 1
  1. 1.Department of Electrical EngineeringUniversity of CaliforniaLos AngelesUSA

Bibliographic information

  • DOI
  • Copyright Information Springer International Publishing Switzerland 2015
  • Publisher Name Springer, Cham
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-3-319-09778-7
  • Online ISBN 978-3-319-09779-4
  • Series Print ISSN 1860-949X
  • Series Online ISSN 1860-9503
  • Buy this book on publisher's site
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