PASCAL - Pattern Analysis, Statistical Modelling and Computational Learning

Efficient, incremental coverage of space with a continuous curve
Subramanian Ramamoorthy, Ram Rajagopal and Lothar Wenzel
Robotica (Special Issue on Geometry in Robotics) Volume 26, pp. 503-512, 2008.


This paper is concerned with algorithmic techniques for the incremental generation of continuous curves that can efficiently cover an abstract surface. We introduce the notion of low-discrepancy curves as an extension of the notion of low-discrepancy sequences—such that sufficiently smooth curves with low-discrepancy properties can be defined and generated. We then devise a procedure for lifting these curves, that efficiently cover the unit cube, to abstract surfaces, such as nonlinear manifolds. We present algorithms that yield suitable fair mappings between the unit cube and the abstract surface. We demonstrate the application of these ideas using some concrete examples of interest in robotics.

EPrint Type:Article
Project Keyword:Project Keyword UNSPECIFIED
Subjects:Learning/Statistics & Optimisation
Theory & Algorithms
ID Code:4831
Deposited By:Subramanian Ramamoorthy
Deposited On:24 March 2009