Optimal Control of Sensor-Induced Illusions on Robotic Agents
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866908337692475392 |
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| author | Medici, Lorenzo LaValle, Steven M. Sakcak, Basak |
| author_facet | Medici, Lorenzo LaValle, Steven M. Sakcak, Basak |
| contents | This paper presents a novel problem of creating and regulating localization and navigation illusions considering two agents: a receiver and a producer. A receiver is moving on a plane localizing itself using the intensity of signals from three known towers observed at its position. Based on this position estimate, it follows a simple policy to reach its goal. The key idea is that a producer alters the signal intensities to alter the position estimate of the receiver while ensuring it reaches a different destination with the belief that it reached its goal. We provide a precise mathematical formulation of this problem and show that it allows standard techniques from control theory to be applied to generate localization and navigation illusions that result in a desired receiver behavior. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_18339 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Optimal Control of Sensor-Induced Illusions on Robotic Agents Medici, Lorenzo LaValle, Steven M. Sakcak, Basak Robotics This paper presents a novel problem of creating and regulating localization and navigation illusions considering two agents: a receiver and a producer. A receiver is moving on a plane localizing itself using the intensity of signals from three known towers observed at its position. Based on this position estimate, it follows a simple policy to reach its goal. The key idea is that a producer alters the signal intensities to alter the position estimate of the receiver while ensuring it reaches a different destination with the belief that it reached its goal. We provide a precise mathematical formulation of this problem and show that it allows standard techniques from control theory to be applied to generate localization and navigation illusions that result in a desired receiver behavior. |
| title | Optimal Control of Sensor-Induced Illusions on Robotic Agents |
| topic | Robotics |
| url | https://arxiv.org/abs/2504.18339 |