Abstract

We consider the problem of localizing a robot in a known environment modeled by a simple polygon P . We assume that the robot has a map of P but is placed at an unknown location inside P . From its initial location, the robot sees a set of points called the visibility polygon V of its location. In general, sensing at a single point will not suffice to uniquely localize the robot, since the set H of points in P with visibility polygon V may have more than one element. Hence, the robot must move around and use range sensing and a compass to determine its position (i.e.

Citations