Mobile robot self-localization without explicit landmarks. (English summary) Algorithmic foundations of robotics. Algorithmica 26 (2000), no. 3-4, 515–559.1432-0541 From the introduction: “In this paper we present algorithms for estimating a mobile robot’s pose by computing sets of poses which provide a maximal-quality match between a set of current sensor data and a map. For ease of exposition, and in the interest of completeness, we first treat the localization problem as a precise combinatorial problem in computational geometry. We then show how the problem can be solved using rasterized algorithms. The rasterized algorithms, which are drawn from the same high-level concepts as the combinatorial algorithms, can be used by real mobile robots with limited computational and sensing resources. Finally, we present experimental results for the rasterized algorithm, obtained using our mobile robot, LILY, at the Cornell Computer Science Robotics and Vision Laboratory. This paper is based on a portion of the first author’s Ph.D. thesis [“Localization, mapmaking, and distributed manipulation with flexible
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