We present a method for determining the unknown location of a sensor placed in a known 2D environment in the presence of unknown dynamic obstacles, using only few distance measurements. We present guarantees on the quality of the localization, which are robust under mild assumptions on the density of the unknown/dynamic obstacles in the known environment. We demonstrate the effectiveness of our method in simulated experiments for different environments and varying dynamic-obstacle density. Our open source software is available at https://github.com/TAU-CGL/vb-fdml2-public.

翻译：本文提出了一种在已知二维环境中存在未知动态障碍物的情况下，仅使用少量距离测量值来确定传感器未知位置的方法。我们给出了定位质量的理论保证，这些保证在已知环境中未知/动态障碍物密度的温和假设下具有鲁棒性。我们通过在不同环境和动态障碍物密度下的仿真实验验证了所提方法的有效性。开源软件发布于 https://github.com/TAU-CGL/vb-fdml2-public。