I-Bug: An intensity-based bug algorithm

Kamilah Taylor, Steven M. Lavalle

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper introduces a sensor-based planning algorithm that uses less sensing information than any others within the family of bug algorithms. The robot is unable to access precise information regarding position coordinates, angular coordinates, time, or odometry, but is nevertheless able to navigate itself to a goal among unknown piecewiseanalytic obstacles in the plane. The only sensor providing real values is an intensity sensor, which measures the signal strength emanating from the goal. The signal intensity function may or may not be symmetric; the main requirement is that the level sets are concentric images of simple closed curves, i.e. topological circles. Convergence analysis and distance bounds are established for the presented approach.

Original languageEnglish (US)
Title of host publication2009 IEEE International Conference on Robotics and Automation, ICRA '09
Number of pages6
StatePublished - 2009
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: May 12 2009May 17 2009

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729


Other2009 IEEE International Conference on Robotics and Automation, ICRA '09

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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