@inproceedings{f2dae45a14b14b99bc4bb8caabc16a4a,
title = "Mapping a polygon with holes using a compass",
abstract = "We consider a simple robot inside a polygon with holes. The robot can move between vertices of along lines of sight. When sitting at a vertex, the robot observes the vertices visible from its current location, and it can use a compass to measure the angle of the boundary of towards north. The robot initially only knows an upper bound on the total number of vertices of. We study the mapping problem in which the robot needs to infer the visibility graph G vis of and needs to localize itself within G vis. We show that the robot can always solve this mapping problem. To do this, we show that the minimum base graph of G vis is identical to G vis itself. This proves that the robot can solve the mapping problem, since knowing an upper bound on the number of vertices was previously shown to suffice for computing G vis.",
author = "Yann Disser and Mat{\'u}s Mihal{\'a}k and Ghosh, \{Subir Kumar\} and Peter Widmayer",
year = "2013",
doi = "10.1007/978-3-642-36092-3\_9",
language = "English",
isbn = "9783642360916",
series = "Lecture Notes in Computer Science",
publisher = "Springer Verlag",
pages = "78--89",
booktitle = "Algorithms for Sensor Systems - 8th International Symposium on Algorithms for Sensor Systems, Wireless Ad Hoc Networks and Autonomous Mobile Entities, ALGOSENSORS 2012, Revised Selected Papers",
address = "Germany",
}