The vertex-edge visibility graph of a polygon
Computational Geometry: Theory and Applications
Wireless integrated network sensors
Communications of the ACM
Bitbots: simple robots solving complex tasks
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 3
Simple robots with minimal sensing: from local visibility to global geometry
AAAI'07 Proceedings of the 22nd national conference on Artificial intelligence - Volume 2
Dominance and equivalence for sensor-based agents
AAAI'07 Proceedings of the 22nd national conference on Artificial intelligence - Volume 2
On information invariants in robotics
Artificial Intelligence
Counting targets with mobile sensors in an unknown environment
ALGOSENSORS'07 Proceedings of the 3rd international conference on Algorithmic aspects of wireless sensor networks
Simple Robots with Minimal Sensing: From Local Visibility to Global Geometry
International Journal of Robotics Research
Exploring Polygonal Environments by Simple Robots with Faulty Combinatorial Vision
SSS '09 Proceedings of the 11th International Symposium on Stabilization, Safety, and Security of Distributed Systems
Exploring and triangulating a region by a swarm of robots
APPROX'11/RANDOM'11 Proceedings of the 14th international workshop and 15th international conference on Approximation, randomization, and combinatorial optimization: algorithms and techniques
How simple robots benefit from looking back
CIAC'10 Proceedings of the 7th international conference on Algorithms and Complexity
Perspective: Simple agents learn to find their way: An introduction on mapping polygons
Discrete Applied Mathematics
Intensity-based navigation with global guarantees
Autonomous Robots
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With the current progress in robot technology and related areas, sophisticated moving and sensing capabilities are at hand to design robots capable of solving seemingly complex tasks. With the aim of understanding the limitations of such capabilities, swarms of simple and cheap robots play an increasingly important role. Their advantages are, among others, the cost, reusability, and fault-tolerance. While it can be expected that for a variety of problems a wealth of robot models are proposed, it is rather unfortunate that almost all proposals fail to point out their assumptions explicitly and clearly. This is problematic because seemingly small changes in the models can lead to significant differences in the capabilities of the robots. Hence, a clean assessment of the "power of robot models" is dearly needed, not only in absolute terms, but also relative to each other. We make a step in this direction by explaining for a set of elementary sensing devices which of these devices (alone and in combination) enable a robot to solve which problems. This not only leads to a natural relation (and hierarchy) of power between robot models that supports a more systematic design, but also exhibits surprising connections and equivalences. For example, one of the derived relations between the robot models implies that a very simple robot (that cannot measure distances) moving inside a simple polygon can find a shortest path between two vertices by means of a sensor that detects for an angle at a vertex of the polygon whether it is convex. We give an explicit algorithm which allows the robot to find a shortest path.