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

  title={Simple Robots with Minimal Sensing: From Local Visibility to Global Geometry},
  author={Subhash Suri and Elias Vicari and Peter Widmayer},
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

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