Abstract: Localization, mapping, and goal-directed search are three fundamental robot motion problems. In localization, the robot knows the map of the terrain, but does not know its own location. In mapping, the robot must construct the map by traversing the terrain. In goal-directed search, the robot knows the location of its destination relative to its initial location, but does not know the intervening terrain. I'll survey and derive various algorithms and performance bounds for these problems. This is joint work with Apurva Mudgal, Sven Koenig, Joe Mitchell, and possibly others as time permits.

Contact: DOS Optimization Seminars(http://www2.isye.gatech.edu/dos/)