  We consider the problem of designing output feedback controllers that use
measurements from a set of landmarks to navigate through a cell-decomposable
environment using duality, Control Lyapunov and Barrier Functions (CLF, CBF),
and Linear Programming. We propose two objectives for navigating in an
environment, one to traverse the environment by making loops and one by
converging to a stabilization point while smoothing the transition between
consecutive cells. We test our algorithms in a simulation environment,
evaluating the robustness of the approach to practical conditions, such as
bearing-only measurements, and measurements acquired with a camera with a
limited field of view.
