Art gallery theorems and algorithms
Art gallery theorems and algorithms
Visual Navigation of an Autonomous Vehicle Using White Line Recognition
IEEE Transactions on Pattern Analysis and Machine Intelligence
Effective landmark placement for accurate and reliable mobile robot navigation
Robotics and Autonomous Systems
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Recently, research on mobile robotics has been focused on achieving reliable performance on autonomous systems. We believe that one possible way to do this is by using landmarks to bound uncertainty during the path planning and navigation stages. In this paper, we present an algorithm to compute the position of artificial visual landmarks in a mobile robot workspace.We aim to maximize the region in the workspace from where a landmark can be seen, i.e., to define the position of the landmarks in the workspace. After pointing out that this problem is combinatorial in nature, we propose a simulated annealing type of technique to find the optimal landmark arrangement.