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Determining planar location via complement-free de Brujin sequences using discrete optical sensors

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1 Author(s)
Scheinerman, E.R. ; Dept. of Math. Sci., Johns Hopkins Univ., Baltimore, MD, USA

We present a technique for determining the absolute x, y-location of a robot in a workspace. The floor of the workspace is tiled with black and white squares in a pattern based on a variant of a de Bruijn sequence. The black/white pattern on the floor is read by a modest number of inexpensive, discrete optical sensors, and a simple algorithm determines the position of the robot

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Robotics and Automation, IEEE Transactions on  (Volume:17 ,  Issue: 6 )