ICRA'09 Paper Abstract


Paper SaC3.4

Taylor, Kamilah (University of Illinois at Urbana-Champaign), LaValle, Steven M (University of Illinois)

I-Bug: An Intensity-Based Bug Algorithm

Scheduled for presentation during the Regular Sessions "Sensor Fusion" (SaC3), Saturday, May 16, 2009, 14:30−14:50, Room: 401

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on June 6, 2020

Keywords Reactive and Sensor-Based Planning, Autonomous Navigation


This paper introduces a sensor-based planning algorithm that uses less sensing information than any others within the family of bug algorithms. The robot is unable to access precise information regarding position coordinates, angular coordinates, time, or odometry, but is nevertheless able to navigate itself to a goal among unknown piecewise-analytic obstacles in the plane. The only sensor providing real values is an intensity sensor, which measures the signal strength emanating from the goal. The signal intensity function may or may not be symmetric; the main requirement is that the level sets are concentric images of simple closed curves, i.e. topological circles. Convergence analysis and distance bounds are established for the presented approach.



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