Time-Efficient Active Bearing-Only Localization with Reception and Coverage Guarantees
Abstract
We consider the localization and removal of a stationary omnidirectional radio source using a mobile sensor with bounded bearing errors and an unknown reception radius within known bounds. The objective is to minimize expected remaining action time under a fixed continuation policy while guaranteeing reception and source removal under the sensing model. A three-disk filter ensures reception, and a minimum enclosing circle certifies coverage of all bearing-consistent source positions. Monte Carlo sample-average search ranks a finite candidate set by complete mission time, including travel, readings, terminal service, and a finite fallback scan that ensures completion under the stated assumptions. In the reference case, 5000 independent validation missions average 60.40 s (approximate 95\% confidence interval: [59.96, 60.84] s), saving 19.39\% relative to a prescribed lateral point and 0.79\% relative to a short-travel point. All 25,000 selected-point validation missions across five initial geometries succeed, with lower mean completion times than both prescribed designs. A same-grid objective ablation shows that minimizing travel or reading count alone can increase mean completion time.
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BibTeX
@misc{xiao2026timeefficient,
title = {{Time-Efficient Active Bearing-Only Localization with Reception and Coverage Guarantees}},
author = {Ao Xiao and Fangfang Zhou and Qiteng Guo},
howpublished = {arXiv},
year = {2026},
month = oct,
doi = {10.48550/arxiv.2610.07893},
eprint = {2610.07893},
archivePrefix = {arXiv},
url = {https://arxiv.org/abs/2610.07893},
note = {CC BY 4.0},
}
RIS
TY - UNPB
TI - Time-Efficient Active Bearing-Only Localization with Reception and Coverage Guarantees
AU - Ao Xiao
AU - Fangfang Zhou
AU - Qiteng Guo
PY - 2026
DA - 2026/10/06
PB - arXiv
DO - 10.48550/arxiv.2610.07893
UR - https://arxiv.org/abs/2610.07893
AB - We consider the localization and removal of a stationary omnidirectional radio source using a mobile sensor with bounded bearing errors and an unknown reception radius within known bounds. The objective is to minimize expected remaining action time under a fixed continuation policy while guaranteeing reception and source removal under the sensing model. A three-disk filter ensures reception, and a minimum enclosing circle certifies coverage of all bearing-consistent source positions. Monte Carlo sample-average search ranks a finite candidate set by complete mission time, including travel, readings, terminal service, and a finite fallback scan that ensures completion under the stated assumptions. In the reference case, 5000 independent validation missions average 60.40 s (approximate 95\% confidence interval: [59.96, 60.84] s), saving 19.39\% relative to a prescribed lateral point and 0.79\% relative to a short-travel point. All 25,000 selected-point validation missions across five initial geometries succeed, with lower mean completion times than both prescribed designs. A same-grid objective ablation shows that minimizing travel or reading count alone can increase mean completion time.
ER -