Abstract
We study the problem of mapping an initially unknown environment with autonomous mobile robots. More precisely, we consider simplistic agents that move from vertex to vertex along the boundary of a polygon and measure angles at each vertex. We show that such agents are already capable of drawing a map of any polygon in the sense that they can infer the exact geometry up to similarity. Often, such tasks require the agent to have some prior bound on the size of the environment. In this paper, we provide an efficient reconstruction algorithm that does not need any a priori knowledge about the total number of vertices.
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Disser, Y., Mihalák, M., Widmayer, P. (2013). Mapping Polygons with Agents That Measure Angles. In: Frazzoli, E., Lozano-Perez, T., Roy, N., Rus, D. (eds) Algorithmic Foundations of Robotics X. Springer Tracts in Advanced Robotics, vol 86. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-36279-8_25
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DOI: https://doi.org/10.1007/978-3-642-36279-8_25
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