RoverBug: Long Range Navigation for Mars Rovers
The Sixth International Symposium on Experimental Robotics VI
Sensing, Intelligence, Motion: How Robots and Humans Move in an Unstructured World
Sensing, Intelligence, Motion: How Robots and Humans Move in an Unstructured World
Graph exploration by a finite automaton
Theoretical Computer Science - Mathematical foundations of computer science 2004
On the power of the compass (or, why mazes are easier to search than graphs)
SFCS '78 Proceedings of the 19th Annual Symposium on Foundations of Computer Science
Counting targets with mobile sensors in an unknown environment
ALGOSENSORS'07 Proceedings of the 3rd international conference on Algorithmic aspects of wireless sensor networks
Switching control approach for stable navigation of mobile robots in unknown environments
Robotics and Computer-Integrated Manufacturing
Sensing and Filtering: A Fresh Perspective Based on Preimages and Information Spaces
Foundations and Trends in Robotics
Intensity-based navigation with global guarantees
Autonomous Robots
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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 piecewise-analytic 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.