μNav: Navigation without Localization

Description

This paper presents a novel navigation approach which, with minimal requirements in terms of on-board sensory, memory, and computational power, exhibits way-finding behaviors in very complex environments. The algorithm does not require any internal spatial representation, nor self-localization abilities: however, since it relies on heuristics to find a path to the goal, completeness is not guaranteed. The paper shows that this is the price to pay for augmenting the robustness of the system in presence of incomplete information and measurement noise.

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