Thispaperthoroughlyinvestigatestheproblemofrobotself-locationbylinecorrespondences.Theoriginalcontributionsarethree-fold:(1)Obtainthenecessaryandsufficientconditiontodeterminelinearlytherobot'sposebytwolinecorrespondences.(2)Showthatifthespacelinesareverticalones,itisimpossibletodeterminelinearlytherobot'sposenomatterhowmanylinecorrespondenceswehave,andtheminimumnumberoflinecorrespondencesis3todetermineuniquely(butnon-linearly)therobot'spose.(3)Showthatifthespacelinesarehorizontalones,theminimumnumberoflinecorrespondencesis3forlineardeterminationand2fornon-lineardeterminationoftherobot'spose.
