Optimal Robot Localization in Trees

This video shows the problem of localization. A robot has to find its position on a map, in our case a geometric tree of bounded degree. The strategy LPS (Localize-by-PlacementSeparation) is known to guarantee that the distance traveled by the robot is at most O( p n) times longer than the shortest possible route to localize the robot, where n is the number of nodes of the tree T with degree greater than two. We explain the algorithm by running it on a tree of n = 169 nodes

Optimal Robot Localization in Trees

The problem of localization, that is, of a robot finding its position on a map, is an important task for autonomous mobile robots. It has applications in numerous areas of robotics ranging from aerial photography to autonomous vehicle exploration. In this paper we present a new strategy LPS (Localize-by-PlacementSeparation) for a robot to find its position on a map, where the map is represented as a geometric tree of bounded degree. Our strategy exploits to a high degree the self-similarities that may occur in the environment