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arXiv · 2504.18339

Optimal Control of Sensor-Induced Illusions on Robotic Agents

Lorenzo Medici·Steven M. LaValle·Basak Sakcak
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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.

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Lorenzo Medici, Steven M. LaValle, Basak Sakcak. 2025-04-25. Optimal Control of Sensor-Induced Illusions on Robotic Agents. https://arxiv.org/abs/2504.18339

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