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stealth.txt
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1994-08-19
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Title: Stealth Navigation: Planning and Behaviors
Authors: Srinivas Ravela, Richard Weiss, Bruce Draper, Brian Pinette,
Allen Hanson and Edward Riseman
Affiliation: Computer Vision Research Laboratory, Dept. of
Computer Science, University of Massachusetts, Box 34610, Amherst, MA
0l003-4610
Abstract: Stealth navigation is a fundamental capability for a
scout vehicle to effectively perform reconnaissance missions.
One component of stealth is the ability to plan paths that minimize
visibility of the vehicle from target locations. This paper
demonstrates a stealth planning system using visibility analysis on
digital terrain elevation maps for path planning. Goal locations
can be user specified or automatically constructed at the
visibility boundary for RSTA operations. The second
component of our stealth navigation system is the ability to
control a vehicle to minimize exposure during RSTA operations
in the presence of sensor
measurement error, inaccurate terrain maps or a dynamic environment.
The notion of visual stealth behavior, i.e. visual servoing to acquire
and maintain a stealth position or trajectory is introduced as a
mechanism for robust stealth navigation. Matching and tracking terrain
features in the image space are identified as important pre-requisites for
visual stealth behaviors. A method is described
to track an important terrain feature in image-space namely, horizon curves.
Keywords: tracking, visual servoing,
path planning, harmonic potential
functions, visibility, stealth, model-based tracking