Introduction

We consider the problem of positioning a set of range-only beacons in an environment to facilitate the navigation of a mobile robot.

We assume that the robot can determine an imprecise range estimate to a subset of these beacons and also that the robot can use odometry information to aid its position and orientation (or pose) estimate.

Given a robot with only these sensing capabilities and a specified path within a given environment map, we ask if there is a beacon deployment that allows the robot to navigate the path with minimal risk, that is, acceptable deviation from the desired path.

Article Information

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