Robot Motion Planning
Planning Algorithms
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
Simple Robots with Minimal Sensing: From Local Visibility to Global Geometry
International Journal of Robotics Research
Target Counting under Minimal Sensing: Complexity and Approximations
Algorithmic Aspects of Wireless Sensor Networks
Simple Robots in Polygonal Environments: A Hierarchy
Algorithmic Aspects of Wireless Sensor Networks
I-bug: an intensity-based bug algorithm
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Minimalist counting in sensor networks (Noise helps)
Ad Hoc Networks
Sensing and Filtering: A Fresh Perspective Based on Preimages and Information Spaces
Foundations and Trends in Robotics
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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We consider the problem of counting the number of indistinguishable targets using a simple binary sensing model. Our setting includes an unknown number of point targets in a (simply- or multiply-connected) polygonal workspace, and a moving point-robot whose sensory input at any location is a binary vector representing the cyclic order of the polygon vertices and targets visible to the robot. In particular, the sensing model provides no coordinates, distance or angle measurements. We investigate this problem under two natural models of environment, friendly and hostile, which differ only in whether the robot can visit the targets or not, and under three different models of motion capability. In the friendly scenario we show that the robots can count the targets, whereas in the hostile scenario no (2 - Ɛ)-approximation is possible, for any Ɛ 0. Next we consider two, possibly minimally more powerful robots that can count the targets exactly.