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

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