Determining planar location via complement-free de Brujin sequences using discrete optical sensors

We present a technique for determining the absolute x, y-location of a robot in a workspace. The floor of the workspace is tiled with black and white squares in a pattern based on a variant of a de Bruijn sequence. The black/white pattern on the floor is read by a modest number of inexpensive, discrete optical sensors, and a simple algorithm determines the position of the robot