One of the common ways of localization in robotics is the triangulation using a system composed of a sensor and some landmarks (which can be artificial or natural). This paper presents a framework, namely the localization space, in order to deal with problems such as the landmark placement and motion planning including the localization constraint. Based on this framework, we present general approaches to the optimal distribution of the landmarks or to the computation of reliable trajectories. The case of a mobile robot equipped with an orientable sensor (such as a pan vision system) is presented to illustrate the formal concepts and to show the practical relevance of the proposed tools.
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Pradalier et al. (2003) studied this question.