{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:04:36Z","timestamp":1777716276706,"version":"3.51.4"},"reference-count":39,"publisher":"SAGE Publications","issue":"11","license":[{"start":{"date-parts":[[2013,7,29]],"date-time":"2013-07-29T00:00:00Z","timestamp":1375056000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2013,9]]},"abstract":"<jats:p>This paper addresses a navigation problem for a certain type of simple mobile robot modeled as a point moving in the plane. The only requirement on the robot is that it must be able to translate in a desired direction, with bounded angular error (measured in a global reference frame), until it reaches the nearest obstacle in its motion direction. One straightforward realization of this capability might use a noisy compass and a contact sensor. We present a planning algorithm that enables such a robot to navigate reliably through its environment. The algorithm constructs a directed graph in which each node is labeled with a subset of the environment boundary. Each edge of the graph is labeled with a sequence of actions that can move the robot from any location in one such set to some location in the other set. We use a variety of local planners to generate the edges, including a \u201ccorner-finding\u201d technique that allows the robot to travel to and localize itself at a convex vertex of the environment boundary. The algorithm forms complete plans by searching the resulting graph. We have implemented this algorithm and present results from both simulation and a proof-of-concept physical realization.<\/jats:p>","DOI":"10.1177\/0278364913488428","type":"journal-article","created":{"date-parts":[[2013,7,29]],"date-time":"2013-07-29T21:31:47Z","timestamp":1375133507000},"page":"1342-1357","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":13,"title":["Planning for provably reliable navigation using an unreliable, nearly sensorless robot"],"prefix":"10.1177","volume":"32","author":[{"given":"Jeremy S.","family":"Lewis","sequence":"first","affiliation":[{"name":"Department of Computer Science and Engineering, University of South Carolina, Columbia, SC, USA"}]},{"given":"Jason M.","family":"O\u2019Kane","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Engineering, University of South Carolina, Columbia, SC, 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