Landmarks in graphs Original Research Article

Navigation can be studied in a graph-structured framework in which the navigating agent (which we shall assume to be a point robot) moves from node to node of a “graph space”. The robot can locate itself by the presence of distinctively labeled “landmark” nodes in the graph space. For a robot navigating in Euclidean space, visual detection of a distinctive landmark provides information about the direction to the landmark, and allows the robot to determine its position by triangulation. On a graph, however, there is neither the concept of direction nor that of visibility. Instead, we shall assume that a robot navigating on a graph can sense the distances to a set of landmarks.