Optimal Control of Sensor-Induced Illusions on Robotic Agents
Abstract
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.
Cite
@article{arxiv.2504.18339,
title = {Optimal Control of Sensor-Induced Illusions on Robotic Agents},
author = {Lorenzo Medici and Steven M. LaValle and Basak Sakcak},
journal= {arXiv preprint arXiv:2504.18339},
year = {2025}
}