{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,22]],"date-time":"2025-02-22T05:28:08Z","timestamp":1740202088358,"version":"3.37.3"},"reference-count":0,"publisher":"IOS Press","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2016]]},"abstract":"<jats:p>In this paper we introduce the problem of planning for perception of a target position. Given a sensing target, the robot has to move to a goal position from where the target can be perceived. Our algorithm minimizes the overall path cost as a function of both motion and perception costs, given an initial robot position and a sensing target. We contribute a heuristic search method, PA*, that efficiently searches for an optimal path. We prove the proposed heuristic is admissible, and introduce a new goal state stopping condition.<\/jats:p>","DOI":"10.3233\/978-1-61499-672-9-1740","type":"book-chapter","created":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T10:26:53Z","timestamp":1740133613000},"source":"Crossref","is-referenced-by-count":0,"title":["PA*: Optimal Path Planning for Perception Tasks"],"prefix":"10.3233","author":[{"family":"Pereira Tiago","sequence":"additional","affiliation":[]},{"family":"Veloso Manuela","sequence":"additional","affiliation":[]},{"family":"Moreira Ant&oacute;nio","sequence":"additional","affiliation":[]}],"member":"7437","container-title":["Frontiers in Artificial Intelligence and Applications","ECAI 2016"],"original-title":[],"deposited":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T11:33:09Z","timestamp":1740137589000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.medra.org\/servlet\/aliasResolver?alias=iospressISBN&isbn=978-1-61499-671-2&spage=1740&doi=10.3233\/978-1-61499-672-9-1740"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016]]},"references-count":0,"URL":"https:\/\/doi.org\/10.3233\/978-1-61499-672-9-1740","relation":{},"ISSN":["0922-6389"],"issn-type":[{"value":"0922-6389","type":"print"}],"subject":[],"published":{"date-parts":[[2016]]}}}