The Robot Localization Problem

@article{Guibas1995TheRL,
title={The Robot Localization Problem},
author={Leonidas J. Guibas and Rajeev Motwani and Prabhakar Raghavan},
journal={SIAM J. Comput.},
year={1995},
volume={26},
pages={1120-1138}
}
We consider the following problem: given a simple polygon ${\cal P}$ and a star-shaped polygon ${\cal V}$, find a point (or the set of points) in ${\cal P}$ from which the portion of ${\cal P}$ that is visible is translation-congruent to ${\cal V}$. The problem arises in the localization of robots equipped with a range finder and a compass---${\cal P}$ is a map of a known environment, ${\cal V}$ is the portion visible from the robot's position, and the robot must use this information to… CONTINUE READING

Citations

Publications citing this paper.
SHOWING 1-10 OF 78 CITATIONS

Randomized Algorithms for Minimum Distance Localization

• I. J. Robotics Res.
• 2004
VIEW 10 EXCERPTS
CITES BACKGROUND
HIGHLY INFLUENCED

Worst-case robot navigation in deterministic environments

VIEW 8 EXCERPTS
CITES BACKGROUND
HIGHLY INFLUENCED

A Near-Tight Approximation Algorithm for the Robot Localization Problem

• SIAM J. Comput.
• 2009
VIEW 6 EXCERPTS
CITES RESULTS, BACKGROUND & METHODS
HIGHLY INFLUENCED

Distance-Optimal Navigation in an Unknown Environment Without Sensing Distances

• IEEE Transactions on Robotics
• 2007
VIEW 4 EXCERPTS
CITES BACKGROUND & METHODS
HIGHLY INFLUENCED

VIEW 8 EXCERPTS
CITES BACKGROUND & METHODS
HIGHLY INFLUENCED

Relocalization - Theory and Practice

• Discrete Applied Mathematics
• 1999
VIEW 8 EXCERPTS
CITES BACKGROUND & METHODS
HIGHLY INFLUENCED

Robot Localization: Theory and Implementation

VIEW 4 EXCERPTS
CITES BACKGROUND
HIGHLY INFLUENCED

Robot localization - theory and practice

• Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97
• 1997
VIEW 8 EXCERPTS
CITES BACKGROUND & METHODS
HIGHLY INFLUENCED

Simultaneous Localization and Mapping and the Potential of Fully Autonomous Vehicles

VIEW 4 EXCERPTS
CITES BACKGROUND & METHODS
HIGHLY INFLUENCED

Almost-Sensorless Localization

• Proceedings of the 2005 IEEE International Conference on Robotics and Automation
• 2005
VIEW 3 EXCERPTS
CITES BACKGROUND
HIGHLY INFLUENCED

1994
2017

CITATION STATISTICS

• 11 Highly Influenced Citations

References

Publications referenced by this paper.
SHOWING 1-10 OF 23 REFERENCES

Triangulating a simple polygon in linear time

• Discrete & Computational Geometry
• 1991
VIEW 8 EXCERPTS
HIGHLY INFLUENTIAL

Efficient visibility queries in simple polygons

• Comput. Geom.
• 1992
VIEW 3 EXCERPTS
HIGHLY INFLUENTIAL

Arrangements of Polytopes

B. Aronov, M. Bern, D. Eppstein
• Unpublished manuscript
• 1991
VIEW 1 EXCERPT

Blanche-an experiment in guidance and navigation of an autonomous robot vehicle

• IEEE Trans. Robotics and Automation
• 1991
VIEW 3 EXCERPTS

VIEW 1 EXCERPT

An Optical Rangefinder for Autonomous Robot Cart Navigation

• Autonomous Robot Vehicles
• 1990
VIEW 2 EXCERPTS

Autonomous navigation to provide long-distance surface traverses for Mars Rover Sample Return Mission

• Proceedings. IEEE International Symposium on Intelligent Control 1989
• 1989
VIEW 1 EXCERPT

Determining the 2- or 3-dimensional similarity transformation between a point set and a model made of lines and arcs

• Proceedings of the 28th IEEE Conference on Decision and Control,
• 1989
VIEW 1 EXCERPT

Geometric Probing

S. S. Skiena
• PhD thesis, University of Illinois,
• 1988
VIEW 1 EXCERPT

• SWAT
• 1988
VIEW 1 EXCERPT