This paper characterizes the information space of a robot moving in the plane with limited sensing. The robot has a landmark detector, which provides the cyclic order of the landmarks around the robot, and it also has a touch sensor, that indicates when the robot is in contact with the environment boundary. The robot cannot measure any precise distances or angles, and does not have an odometer or a compass. We propose to characterize the information space associated with such robot through the swap cell decomposition. We show how to construct such decomposition through its dual, called the swap graph, using two kinds of feedback motion commands based on the landmarks sensed.

This paper characterizes the information space of a robot moving in the plane with limited sensing. The robot has a landmark detector, which provides the cyclic order of the landmarks around the robot, and it also has a touch sensor, that indicates when the robot is in contact with the environment boundary. The robot cannot measure any precise distances or angles, and does not have an odometer or a compass. We propose to characterize the information space associated with such robot through the swap cell decomposition. We show how to construct such decomposition through its dual, called the swap graph, using two kinds of feedback motion commands based on the landmarks sensed.

Learning combinatorial information from alignments of landmarks / Freda, Luigi; Tovar, Benjamín; Lavalle, Steven M.. - ELETTRONICO. - (2007), pp. 4295-4300. (Intervento presentato al convegno 2007 IEEE International Conference on Robotics and Automation, ICRA'07 tenutosi a Rome, ita nel 2007) [10.1109/ROBOT.2007.364140].

Learning combinatorial information from alignments of landmarks

FREDA, Luigi;
2007

Abstract

This paper characterizes the information space of a robot moving in the plane with limited sensing. The robot has a landmark detector, which provides the cyclic order of the landmarks around the robot, and it also has a touch sensor, that indicates when the robot is in contact with the environment boundary. The robot cannot measure any precise distances or angles, and does not have an odometer or a compass. We propose to characterize the information space associated with such robot through the swap cell decomposition. We show how to construct such decomposition through its dual, called the swap graph, using two kinds of feedback motion commands based on the landmarks sensed.
2007
2007 IEEE International Conference on Robotics and Automation, ICRA'07
This paper characterizes the information space of a robot moving in the plane with limited sensing. The robot has a landmark detector, which provides the cyclic order of the landmarks around the robot, and it also has a touch sensor, that indicates when the robot is in contact with the environment boundary. The robot cannot measure any precise distances or angles, and does not have an odometer or a compass. We propose to characterize the information space associated with such robot through the swap cell decomposition. We show how to construct such decomposition through its dual, called the swap graph, using two kinds of feedback motion commands based on the landmarks sensed.
04 Pubblicazione in atti di convegno::04b Atto di convegno in volume
Learning combinatorial information from alignments of landmarks / Freda, Luigi; Tovar, Benjamín; Lavalle, Steven M.. - ELETTRONICO. - (2007), pp. 4295-4300. (Intervento presentato al convegno 2007 IEEE International Conference on Robotics and Automation, ICRA'07 tenutosi a Rome, ita nel 2007) [10.1109/ROBOT.2007.364140].
File allegati a questo prodotto
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/947939
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 2
  • ???jsp.display-item.citation.isi??? 1
social impact