Proceedings PaperQualitative homing II: handling incorrectly identified landmarks
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In a homing problem a robot is required to go to a fixed target location. In the version of the homing problem presented here, the robot uses discrepancies between landmark bearings at the current location and the target location to calculate appropriate movements. Landmarks from the current frame that have been incorrectly identified in the target frame, however, can mislead the robot, perhaps causing it to move away from the target location. This paper describes a two-frame algorithm that can detect and remove those incorrectly-identified landmarks that are inconsistent with the actual direction of the target location. This consistency-filtering algorithm is guaranteed to work as long as more than two-thirds of the landmarks are correctly identified. It is shown that no other two-frame algorithm works any better than this consistency-filtering algorithm.