Some geometric localization problems with applications in robotics

In this survey, two different kinds of geometrical localization problems with applications in robotics are studied. First, the Robot Localization Problem, which is the problem of determining a robot's unknown position in a known environment, is studied. Then, the Robot Search Problem, in which the position of a hidden item in an unknown environment is searched for, is considered. Throughout the survey mainly two different kinds of sensors are used to gather data about the robot's surrounding, namely Angle Meters and Range Meters. Both problems are formulated as geometrical problems, and are solved using algorithms and data structures from the field of Computational Geometry. Some aspects crucial to implementing robust algorithms in practical applications are also considered.Validerat; 20101217 (root