Примеры sentry

• Discovering an unpredicted sentry(s) while moving along the created path can be easily accommodated.

• At each free-space cell, the visibility risk cost to each sentry observing that cell is calculated.

• The calculated visibility cost of that sentry at each affected cell is added to the previously stored cost.

• The robot is exposed to the sentry at a far distance where it is more covert than the other shortcuts to the goal.

• The new path is hidden from the known sentry but is still cautious from the unknown ones, as compared to the short path.

• The approach has shown its capability of adapting with different levels of knowledge about both the operating environment and the sentries' locations.

• This ability is important as it allows the robot to immediately maintain its covertness once it gets in the view field of an unpredicted sentry.

• The estimated value at any location represents the risk level of being exposed to one or more sentries.

• The approach depends on estimating a cost value at each free-space location that presents the risk of being seen by any sentry.

• The shortest path on the other hand is exposed to all sentries.

• It's in the middle of their line, like a sentry standing guard.

• Only the cells that are in the view field of the discovered sentry are updated in the visibility map.

• Different applications would have different visibility risk factors that should be taken into account, other than simply being/not being observed by a sentry.

• The final visibility cost at a cell would be the sum of all visibility costs calculated for each of its observing sentries.

• A short (dashed-line) path is observed by one of the sentries.