Active Localization of Unstable Systems with Coarse Information

摘要

We study localization and control for unstable systems under coarse, single-bit sensing. Motivated by understanding the fundamental limitations imposed by such minimal feedback, we identify sufficient conditions under which the initial state can be recovered despite instability and extremely sparse measurements. Building on these conditions, we develop an active localization algorithm that integrates a set-based estimator with a control strategy derived from Voronoi partitions, which provably estimates the initial state while ensuring the agent remains in informative regions. Under the derived conditions, the proposed approach guarantees exponential contraction of the initial-state uncertainty, and the result is further supported by numerical experiments. These findings can offer theoretical insight into localization in robotics, where sensing is often limited to coarse abstractions such as keyframes, segmentations, or line-based features.