Toward the design and analysis of blind, bouncing robots

What kind of tasks are robots with extremely simple control laws capable of performing? Consider a point robot that navigates by aligning itself to a certain fixed angle relative to the environment boundary, then driving in a straight line. Even without knowing the robot´s exact location, basic, noisy odometry and counting sensors can be used to narrow down the robot´s possible locations over time. This paper describes methods of determining the possible locations of the robot after the robot has moved a sufficient distance or has impacted the boundary a sufficient number of times.