CSCE 452/752 Robotics and Spatial Intelligence, Fall 2025
Homework 9
A robot, represented below by the small dot, wants to solve the
Dudek-Romanik-Whitesides localization problem discussed in class. The
environment is represented as a polygon, and the robot has a sensor that
reports the visibility polygon of its position within the environment and a
compass that reports the robot's orientation relative to the environment map.
1. Draw the visibility polygon for the robot's position.
2. Find all of the positions consistent with this initial sensor information.
Mark each with a star.
3. Draw a path that would allow the robot to eliminate at least one of these
candidates.
[Submit via Canvas.]
