TY - GEN
T1 - Almost-sensorless localization
AU - O'Kane, Jason M.
AU - LaValle, Steven M.
PY - 2005
Y1 - 2005
N2 - We present a localization method for robots equipped with only a compass, a contact sensor and a map of the environment. In this framework, a localization strategy can be described as a sequence of directions in which the robot moves maximally. We show that a localizing sequence exists for any simply connected polygonal environment by presenting an algorithm for computing such a sequence. We have implemented the algorithm and we present several computed examples. We also show that the sensing model is minimal by showing that replacement of the compass by an angular odometer precludes the possibility of performing localization.
AB - We present a localization method for robots equipped with only a compass, a contact sensor and a map of the environment. In this framework, a localization strategy can be described as a sequence of directions in which the robot moves maximally. We show that a localizing sequence exists for any simply connected polygonal environment by presenting an algorithm for computing such a sequence. We have implemented the algorithm and we present several computed examples. We also show that the sensing model is minimal by showing that replacement of the compass by an angular odometer precludes the possibility of performing localization.
UR - http://www.scopus.com/inward/record.url?scp=33846130599&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33846130599&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2005.1570694
DO - 10.1109/ROBOT.2005.1570694
M3 - Conference contribution
AN - SCOPUS:33846130599
SN - 078038914X
SN - 9780780389144
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3764
EP - 3769
BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation
T2 - 2005 IEEE International Conference on Robotics and Automation
Y2 - 18 April 2005 through 22 April 2005
ER -