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Mapping and Navigation from Permutations of Landmarks

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Title: Mapping and Navigation from Permutations of Landmarks
Author(s): Tovar, Benjamin; Freda, Luigi; LaValle, Steven M.
Subject(s): robotics
Abstract: This paper considers a robot that moves in the plane and is only able to sense the cyclic order of landmarks with respect to its current position. No metric information (e.g., coordinates) is available regarding the robot or landmark positions; moreover, the robot does not have a compass or odometers. We carefully study the information space (belief space) of the robot, and establish its capabilities in terms of mapping the environment and accomplishing tasks, such as navigation and patrolling. The information space can be nicely characterized using the notion of "order type", which provides information powerful enough to determine which points lie inside the convex hulls of subsets of landmarks.
Issue Date: 2006-08
Genre: Technical Report
Type: Text
Other Identifier(s): UIUCDCS-R-2006-2767
Rights Information: You are granted permission for the non-commercial reproduction, distribution, display, and performance of this technical report in any format, BUT this permission is only for a period of 45 (forty-five) days from the most recent time that you verified that this technical report is still available from the University of Illinois at Urbana-Champaign Computer Science Department under terms that include this permission. All other rights are reserved by the author(s).
Date Available in IDEALS: 2009-04-21

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