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Partial-Scan-and-Move Source Seeking for Mobile Robots

arXiv · AI, language, vision and robotics · article · Sep 20, 2026 · UTC

This paper presents a partial-scan-and-move strategy for source seeking with a mobile robot equipped with an offset scalar sensor. At each robot position, the sensor collects source field measurements while the robot rotates. Instead of requiring a complete circular scan before every move, we ask when the measurements collected over only part of the circle are already sufficient to determine the next action. We develop a gradient estimation method for partial scans together with a confidence set that accounts for measurement noise and local field variation. The robot uses this confidence set t

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