We consider a navigation problem for a robot equipped with only a map, compass, and contact sensor. In addition to the limitations placed on sensing, we assume that there exists some bounded uncertainty on rotations of our robot, due to precision errors from the compass. We present an algorithm providing guaranteed transitions in the environment between certain pairs of points. The algorithm chains these transitions together to form complete navigation plans. The simplicity of the robots design allows us to concentrate on the nature of the navigation problem, rather than the design and implementation of our robotic system. We illustrate the algorithm with an implementation and simulated results
","abstract_html":"<p>We consider a navigation problem for a robot equipped with only a map, compass, and contact sensor. In addition to the limitations placed on sensing, we assume that there exists some bounded uncertainty on rotations of our robot, due to precision errors from the compass. We present an algorithm providing guaranteed transitions in the environment between certain pairs of points. The algorithm chains these transitions together to form complete navigation plans. The simplicity of the robots design allows us to concentrate on the nature of the navigation problem, rather than the design and implementation of our robotic system. We illustrate the algorithm with an implementation and simulated results</p>","abstract_has_math":false,"creators":["Lewis, Jeremy"],"institution":null,"degree_name":"M.S.","degree_level":"Campus Access Thesis","degree_discipline":"Computer Science and Engineering","degree_department":null,"school":null,"contributors":["Jason M O'Kane"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2011,"date_issued":"2011-01-01T08:00:00Z","date_published":"2011-01-01T08:00:00Z","updated_at":"2026-07-24T04:37:49Z","subjects":["Computer Sciences","Electrical and Computer Engineering","Engineering","Physical Sciences and Mathematics","computational geometry","landmark-based","Navigation","Planning Algorithm"],"languages":[],"rights":["© 2011, Jeremy Lewis"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://scholarcommons.sc.edu/etd/789","outbound_label":"Repository record","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Jason M O'Kane"]},{"key":"dc:creator","label":"Author","values":["Lewis, Jeremy"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"thesis:degree_discipline","label":"Discipline","values":["Computer Science and Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Campus Access Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Computer Sciences","Electrical and Computer Engineering","Engineering","Physical Sciences and Mathematics","computational geometry","landmark-based","Navigation","Planning Algorithm"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:rights","label":"Dc Rights","values":["© 2011, Jeremy Lewis"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["https://scholarcommons.sc.edu/etd/789"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["We consider a navigation problem for a robot equipped with only a map, compass, and contact sensor. In addition to the limitations placed on sensing, we assume that there exists some bounded uncertainty on rotations of our robot, due to precision errors from the compass. We present an algorithm providing guaranteed transitions in the environment between certain pairs of points. The algorithm chains these transitions together to form complete navigation plans. The simplicity of the robots design allows us to concentrate on the nature of the navigation problem, rather than the design and implementation of our robotic system. We illustrate the algorithm with an implementation and simulated results
"]},{"key":"dc:title","label":"Title","values":["Guaranteed Navigation With An Unreliable Blind Robot"]}]}],"canonical_facts":{"dc:contributor":["Jason M O'Kane"],"dc:creator":["Lewis, Jeremy"],"dc:description.abstract":["We consider a navigation problem for a robot equipped with only a map, compass, and contact sensor. In addition to the limitations placed on sensing, we assume that there exists some bounded uncertainty on rotations of our robot, due to precision errors from the compass. We present an algorithm providing guaranteed transitions in the environment between certain pairs of points. The algorithm chains these transitions together to form complete navigation plans. The simplicity of the robots design allows us to concentrate on the nature of the navigation problem, rather than the design and implementation of our robotic system. We illustrate the algorithm with an implementation and simulated results
"],"dc:identifier":["https://scholarcommons.sc.edu/etd/789"],"dc:rights":["© 2011, Jeremy Lewis"],"dc:subject":["Computer Sciences","Electrical and Computer Engineering","Engineering","Physical Sciences and Mathematics","computational geometry","landmark-based","Navigation","Planning Algorithm"],"dc:title":["Guaranteed Navigation With An Unreliable Blind Robot"],"thesis:degree_discipline":["Computer Science and Engineering"],"thesis:degree_level":["Campus Access Thesis"],"thesis:degree_name":["M.S."]},"updated_at":"2026-07-24T04:37:49Z"}