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-Placement-Separation) 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. 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 (√n) times longer than the shortest possible route to localize the robot, where n is the number of vertices of the tree. This is a significant improvement over the best known previous bound of O(n2/3). Moreover, since there is a lower bound of Ω(√n), our strategy is optimal up to a constant factor. Using the same approach we can also show that the problem of searching for a target in a geometric tree, where the robot is given a map of the tree and the location of the target but does not know its own position, can be solved by a strategy with a competitive ratio of O(√n), which is again optimal up to a constant factor. 2001 Elsevier Science