Exploiting visual constraints in the synthesis of uncertainty-tolerant motion plans. II. The nondirectional backprojection

For Pt.I see ibid., p.305-10, (1993). It is shown how the introduction of visual constraints into the backprojection formalism affects the computation and structure of the nondirectional backprojection. Specifically, by examining the behavior of the visual constraints as a function of the direction of the commanded velocity, it is possible to determine the new criteria for critical velocity orientations (i.e., velocity orientations at which the topology of the directional backprojection, including visual constraint rays, might change)