Practical Strategies for Hypotheses Elimination on the Self-Localization Problem

Abstract

We take a look at the second part of the robot-selflocalization-problem. The hypotheses generated in a solution of the first part of the problem will be efficient reduced with the movement of the robot. A practical approach is described, using realistic paths and imprecise sensors. It operates on voronoi edges and voronoi vertices and can handle polygons with indiscribed obstacles. A new decision strategy will be discussed different from strategy MDL. Estimations will be given for time and space complexities and for the competitve ratio