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Localizing a Robot with Minimum Travel

Authors: [tex2html_wrap4190]G. Dudek, K. Romanik, S. Whitesides

Investigator username: dudek

Category: perception

Subcategory: active perception

We consider the problem of localizing a point mobile robot in an environment for which the robot has a map. The localization problem is to determine the position of the robot, which has a compass and a range sensing device. Since several positions in the environment may generate the same sensory data, we seek to minimize the distance the robot must travel to determine its exact location. We exhibit both lower bound results and provably good heuristics.