Using backprojections for fine motion planning with uncertainty
International Journal of Robotics Research
Algorithms in combinatorial geometry
Algorithms in combinatorial geometry
On the representation and estimation of spatial uncertainly
International Journal of Robotics Research
Coordinate representation of order types requires exponential storage
STOC '89 Proceedings of the twenty-first annual ACM symposium on Theory of computing
Qualitative navigation for mobile robots
Artificial Intelligence
Analysis and planning of planar manipulation tasks
Analysis and planning of planar manipulation tasks
Computational geometry: algorithms and applications
Computational geometry: algorithms and applications
Algorithmic geometry
A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots
Machine Learning - Special issue on learning in autonomous robots
The spatial semantic hierarchy
Artificial Intelligence
Navigating Mobile Robots: Systems and Techniques
Navigating Mobile Robots: Systems and Techniques
FastSLAM: a factored solution to the simultaneous localization and mapping problem
Eighteenth national conference on Artificial intelligence
Towards a general theory of topological maps
Artificial Intelligence
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
The Role of Global and Local Landmarks in Virtual Environment Navigation
Presence: Teleoperators and Virtual Environments
Learning topological maps with weak local odometric information
IJCAI'97 Proceedings of the Fifteenth international joint conference on Artifical intelligence - Volume 2
DP-SLAM: fast, robust simultaneous localization and mapping without predetermined landmarks
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Probabilistic robot navigation in partially observable environments
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 2
Landmark-based robot navigation
AAAI'92 Proceedings of the tenth national conference on Artificial intelligence
Shortest Length Paths for a Differential Drive Robot Keeping a set of Landmarks in Sight
Journal of Intelligent and Robotic Systems
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This paper considers a robot that moves in the plane and that is able to sense only the cyclic order of landmarks with respect to its current position. No metric information is available regarding the robot or landmark positions; moreover, the robot does not have a compass or odometers (i.e., knowledge of coordinates). We carefully study the information space of the robot, and establish its capabilities in terms of mapping the environment and accomplishing tasks, such as navigation and patrolling. When the robot moves exclusively inside the perimeter of the set of landmarks, the information space may be succinctly characterized as an order type that provides information powerful enough to determine which points lie inside the convex hulls of subsets of landmarks. In addition, if the robot is allowed to move outside the perimeter of the set of landmarks, the information space is described with a swap cell decomposition, that is, an aspect graph in which each aspect is a cyclic permutation of landmarks. Finally, we show how to construct such decomposition through its dual, using two kinds of feedback motion commands based on the landmarks sensed.