Learning the Delaunay triangulation of landmarks from a distance ordering sensor

Max Katsev, Steven M. LaValle

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

Abstract

This paper considers a robot that moves in a plane and is only able to sense the distance order of landmarks with respect to its current position. The robot has no access to either metric information about the location of landmarks and its own position, or to odometry or speed controls. We propose several algorithms for the robot that allow it to navigate to certain points in the plane and to learn global information about the landmark locations. We, furthermore, demonstrate example tasks, such as convex hull computation, that can be performed using this information.

Original languageEnglish (US)
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages2511-2516
Number of pages6
DOIs
StatePublished - Dec 29 2011
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: Sep 25 2011Sep 30 2011

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period9/25/119/30/11

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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