The complexity of planar compliant motion planning under uncertainty
SCG '88 Proceedings of the fourth annual symposium on Computational geometry
Navigating in unfamiliar geometric terrain
STOC '91 Proceedings of the twenty-third annual ACM symposium on Theory of computing
Information and Computation
How to learn an unknown environment. I: the rectilinear case
Journal of the ACM (JACM)
RoverBug: Long Range Navigation for Mars Rovers
The Sixth International Symposium on Experimental Robotics VI
Competitive Searching in Polygons - Beyond Generalised Streets
ISAAC '95 Proceedings of the 6th International Symposium on Algorithms and Computation
On-Line Algorithms for Robot Navigation and Server Problems
On-Line Algorithms for Robot Navigation and Server Problems
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
Robot Odor Localization: A Taxonomy and Survey
International Journal of Robotics Research
Simple Robots with Minimal Sensing: From Local Visibility to Global Geometry
International Journal of Robotics Research
Simple Robots in Polygonal Environments: A Hierarchy
Algorithmic Aspects of Wireless Sensor Networks
Access Point Localization Using Local Signal Strength Gradient
PAM '09 Proceedings of the 10th International Conference on Passive and Active Network Measurement
I-bug: an intensity-based bug algorithm
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Counting targets with mobile sensors in an unknown environment
ALGOSENSORS'07 Proceedings of the 3rd international conference on Algorithmic aspects of wireless sensor networks
Visibility of point clouds and mapping of unknown environments
ACIVS'06 Proceedings of the 8th international conference on Advanced Concepts For Intelligent Vision Systems
Distance-Optimal Navigation in an Unknown Environment Without Sensing Distances
IEEE Transactions on Robotics
CBUG: A Quadratically Competitive Mobile Robot Navigation Algorithm
IEEE Transactions on Robotics
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This article introduces simple, information-feedback plans that guide a robot through an unknown obstacle course using the sensed information from a single intensity source. The framework is similar to the well-known family of bug algorithms; however, our plans require less sensing information than any others. 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. Convergence analysis and distance bounds are established for the presented plans. Furthermore, they are experimentally demonstrated using a differential drive robot and an infrared beacon.