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Path planning algorithms for unmanned aerial or ground vehicles, in manysurveillance applications, rely on Global Positioning System (GPS) informationfor localization. However, disruption of GPS signals, by intention orotherwise, can render these plans and algorithms ineffective. This articleprovides a way of addressing this issue by utilizing stationary landmarks toaid localization in such GPS-disrupted or GPS-denied environment. Inparticular, given the vehicle's path, we formulate a landmark-placement problemand present algorithms to place the minimum number of landmarks whilesatisfying the localization, sensing, and collision-avoidance constraints. Theperformance of such a placement is also evaluated via extensive simulations onground robots.

Landmark Placement for Localization in a GPS-denied Environment