Strategic allocation of landmarks to reduce uncertainty in indoor navigation

Reza Arabsheibani, Jan-Henrik Haunert, Stephan Winter, Martin Tomko

Abstract: Highlights•A novel approach combining computational geometry, and optimization to allocate landmarks in indoor environments.•Algorithm identifies uncertain decision points based on turn-based route instruction grammars.•Criteria quantify path segment uncertainty for landmark allocation.•Integer linear programming maximizes uncertainty reduction and minimizes landmark count.•Findings show more complex layouts need more landmarks for effective uncertainty reduction.