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

Complete coverage requirement
• Realize sensor actions by robot
movements Connection requirement
• Minimize total costs:
--- Sensing costs: number of views
--- Traveling costs: robot path length Unified formulation to facilitate
the optimal solution

2. Related Work: 2-level Framework 4. Primal Dual Algorithm

• First level: view planning problem (VPP) • Modified first level: to address sensing and traveling (distance to the
--- Minimize number of views start position) tradeoff

• Second Level: Traveling Salesman problem (TSP)

--- Minimize traveling cost

v1 5. Performance Analysis
Surface s1
Obj. of Interest s3 v3 v1 v2
s2
v2 v1: 2 v1
v1 Planned path
4 1
Obstacles (i) Optimal Solution (ii) Two Level Solution v3 v4
v4: 1
Counter example (two level framework performs arbitrarily bad) v3 Obj. of Interest v4 = s v3: 6

4 1 v2
• Views planned in optimal solution are close to each other v2 v2: 2

• Two level framework: Same example (edge costs added) Level I (modified sensing costs) Level II (shortest path)
--- First level ignores traveling cost. Views planned can be far apart --- v1, v2 and v4 are chosen. --- Recover the optimal
solution
--- Far-apart views result in excessive traveling cost.