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In a maritime area supervision context, we seek providing a human operator with dynamic information on the behaviors of the monitored entities. Linking raw measurements, coming from sensors, with the abstract descriptions of those behaviors is a tough challenge. This problem is usually addressed with a two-stepped treatment: filtering the multidimensional, heterogeneous and imprecise measurements...
Numerous approaches have been proposed for path planning in dynamic current fields, for a fixed departure time. However, in many applications, the departure time is not necessarily known in advance, but can vary in a time window. In this context, the choice of a good departure time is a critical issue. That is why we introduce in this paper a new approach, called symbolic wavefront expansion, determining...
The wavefront expansion is commonly used for path planning tasks and appreciated for its efficiency. However, the existing extensions able to handle currents are subject to incorrectness and incompleteness issues when these currents become strong. That is, they may return physically infeasible paths or no path at all, even if a feasible path exists. This behavior endangers the robot, especially in...
The concept of wavefront expansion was introduced in order to build a collision-free path between two points among obstacles, minimizing a criterion. In this paper, we propose a new concept, called wavefront collision, in order to do the same for all possible paths between n waypoints. It consists in expanding simultaneously one wavefront by waypoint, until they collide. Using this concept, all paths...
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