We describe an efficient method for localizing a mobile robot in an environment with landmarks. We assume that the robot can identify these landmarks and measure their bearings relative to each other. Given such noisy input, the algorithm estimates the robot's position and orientation with respect to the map of the environment. The algorithm makes efficient use of our representation of the landmarks by complex numbers. The algorithm runs in time linear in the number of landmarks. We present results of simulations and propose how to use our method for robot navigation.

through its environment. The robot either explores an unknown environment or navigates through a somewhat familiar environment. The thesis addresses the design of algorithms for 1. environment learning, 2. position estimation using landmarks, 3. visual landmark recognition.

We describe an efficient algorithm for localizing a mobile robot in an environment with landmarks. We assume that the robot has a camera and maybe other sensors that enable it to both identify landmarks and measure the angles subtended by these landmarks. We show how to estimate the robot’s position using a new technique that involves a complex number representation of the landmarks. Our algorithm runs in time linear in the number of landmarks. We present results of our simulations and propose how to use our method for robot navigation.