Simple Robots with Minimal Sensing: From Local Visibility to Global Geometry

@inproceedings{Suri2007SimpleRW,
  title={Simple Robots with Minimal Sensing: From Local Visibility to Global Geometry},
  author={Subhash Suri and Elias Vicari and Peter Widmayer},
  booktitle={AAAI},
  year={2007}
}
We consider problems of geometric exploration and self-deployment for simple robots that can only sense the combinatorial (non-metric) features of their surroundings. Even with such a limited sensing, we show that robots can achieve complex geometric reasoning and perform many non-trivial tasks. Specifically, we show that one robot equipped with a single pebble can decide whether the workspace environment is a simplyconnected polygon or not; with sufficiently many pebbles, it can also count the… CONTINUE READING

From This Paper

Figures, tables, and topics from this paper.

Citations

Publications citing this paper.
Showing 1-10 of 40 extracted citations

Sparse sensing for resource-constrained depth reconstruction

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) • 2016
View 1 Excerpt

References

Publications referenced by this paper.
Showing 1-10 of 14 references

Distributed deployment of asynchronous guards in art galleries

2006 American Control Conference • 2006
View 4 Excerpts
Highly Influenced

A combinatorial theorem in plane geometry.Journal of Combinatorial Theory

V. Chvátal
1975
View 5 Excerpts
Highly Influenced

Visibilitybased pursuit-evasion in an unknown planar environment

S. Sachs, S. Rajko, S. M. LaValle
International Journal of Robotics Research, • 2004
View 1 Excerpt

Schwarzkopf.Computational geometry: algorithms and applications

M. de Berg, M. van Kreveld, M. Overmars
1997
View 1 Excerpt

Similar Papers

Loading similar papers…