Learning combinatorial information from alignments of landmarks

Luigi Freda; Benjamín Tovar; Steven M. LaValle

doi:10.1109/ROBOT.2007.364140

Learning combinatorial information from alignments of landmarks

Luigi Freda, Benjamín Tovar, Steven M. LaValle

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper characterizes the information space of a robot moving in the plane with limited sensing. The robot has a landmark detector, which provides the cyclic order of the landmarks around the robot, and it also has a touch sensor, that indicates when the robot is in contact with the environment boundary. The robot cannot measure any precise distances or angles, and does not have an odometer or a compass. We propose to characterize the information space associated with such robot through the swap cell decomposition. We show how to construct such decomposition through its dual, called the swap graph, using two kinds of feedback motion commands based on the landmarks sensed.

Original language	English (US)
Title of host publication	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages	4295-4300
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2007.364140
State	Published - 2007
Event	2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy Duration: Apr 10 2007 → Apr 14 2007

Publication series

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

Conference

Conference	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/Territory	Italy
City	Rome
Period	4/10/07 → 4/14/07

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Online availability

10.1109/ROBOT.2007.364140

Library availability

Discover UIUC Full Text

Cite this

Learning combinatorial information from alignments of landmarks. / Freda, Luigi; Tovar, Benjamín; LaValle, Steven M.
2007 IEEE International Conference on Robotics and Automation, ICRA'07. 2007. p. 4295-4300 4209758 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Freda, L, Tovar, B & LaValle, SM 2007, Learning combinatorial information from alignments of landmarks. in 2007 IEEE International Conference on Robotics and Automation, ICRA'07., 4209758, Proceedings - IEEE International Conference on Robotics and Automation, pp. 4295-4300, 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, Italy, 4/10/07. https://doi.org/10.1109/ROBOT.2007.364140

@inproceedings{83f11e9e314543e98797930cf40330e6,

title = "Learning combinatorial information from alignments of landmarks",

abstract = "This paper characterizes the information space of a robot moving in the plane with limited sensing. The robot has a landmark detector, which provides the cyclic order of the landmarks around the robot, and it also has a touch sensor, that indicates when the robot is in contact with the environment boundary. The robot cannot measure any precise distances or angles, and does not have an odometer or a compass. We propose to characterize the information space associated with such robot through the swap cell decomposition. We show how to construct such decomposition through its dual, called the swap graph, using two kinds of feedback motion commands based on the landmarks sensed.",

author = "Luigi Freda and Benjam{\'i}n Tovar and LaValle, {Steven M.}",

year = "2007",

doi = "10.1109/ROBOT.2007.364140",

language = "English (US)",

isbn = "1424406021",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "4295--4300",

booktitle = "2007 IEEE International Conference on Robotics and Automation, ICRA'07",

note = "2007 IEEE International Conference on Robotics and Automation, ICRA'07 ; Conference date: 10-04-2007 Through 14-04-2007",

}

TY - GEN

T1 - Learning combinatorial information from alignments of landmarks

AU - Freda, Luigi

AU - Tovar, Benjamín

AU - LaValle, Steven M.

PY - 2007

Y1 - 2007

N2 - This paper characterizes the information space of a robot moving in the plane with limited sensing. The robot has a landmark detector, which provides the cyclic order of the landmarks around the robot, and it also has a touch sensor, that indicates when the robot is in contact with the environment boundary. The robot cannot measure any precise distances or angles, and does not have an odometer or a compass. We propose to characterize the information space associated with such robot through the swap cell decomposition. We show how to construct such decomposition through its dual, called the swap graph, using two kinds of feedback motion commands based on the landmarks sensed.

AB - This paper characterizes the information space of a robot moving in the plane with limited sensing. The robot has a landmark detector, which provides the cyclic order of the landmarks around the robot, and it also has a touch sensor, that indicates when the robot is in contact with the environment boundary. The robot cannot measure any precise distances or angles, and does not have an odometer or a compass. We propose to characterize the information space associated with such robot through the swap cell decomposition. We show how to construct such decomposition through its dual, called the swap graph, using two kinds of feedback motion commands based on the landmarks sensed.

UR - http://www.scopus.com/inward/record.url?scp=36348952098&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=36348952098&partnerID=8YFLogxK

U2 - 10.1109/ROBOT.2007.364140

DO - 10.1109/ROBOT.2007.364140

M3 - Conference contribution

AN - SCOPUS:36348952098

SN - 1424406021

SN - 9781424406029

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 4295

EP - 4300

BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07

T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07

Y2 - 10 April 2007 through 14 April 2007

ER -

Learning combinatorial information from alignments of landmarks

Abstract

Publication series

Conference

ASJC Scopus subject areas

Online availability

Library availability

Related links

Fingerprint

Cite this