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Abstract : |
The problem of localization, i.e. 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 for a robot to find its position on a map where the map is represented as a geometric tree. Our strategy exploits to a high degree the self-similarities that may occur in the environment. We use the framework of competitive analysis to analyze the performance of our strategy. In particular, we show that the distance traveled by the robot is at most O(, |
