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Prouver l'existence de boucles dans des trajectoires de robots

hal.structure.identifierLab-STICC_ENSTAB_CID_PRASYS
dc.contributor.authorROHOU, Simon
hal.structure.identifierInstitute of Science and Technology [Klosterneuburg, Austria] [IST Austria]
dc.contributor.authorFRANEK, Peter
hal.structure.identifierInstitut de Recherche de l'Ecole Navale [IRENAV]
dc.contributor.authorAUBRY, Clément
hal.structure.identifierLab-STICC_ENSTAB_CID_PRASYS
dc.contributor.authorJAULIN, Luc
dc.date.accessioned2021-05-14T09:46:04Z
dc.date.available2021-05-14T09:46:04Z
dc.date.issued2018-10-24
dc.identifier.issn0278-3649
dc.identifier.urihttps://oskar-bordeaux.fr/handle/20.500.12278/76969
dc.description.abstractEnThis paper presents a reliable method to verify the existence of loops along the uncertain trajectory of a robot, based on proprioceptive measurements only, within a bounded-error context. The loop closure detection is one of the key points in SLAM methods, especially in homogeneous environments with difficult scenes recognitions. The proposed approach is generic and could be coupled with conventional SLAM algorithms to reliably reduce their computing burden, thus improving the localization and mapping processes in the most challenging environments such as unexplored underwater extents. To prove that a robot performed a loop whatever the uncertainties in its evolution, we employ the notion of topological degree that originates in the field of differential topology. We show that a verification tool based on the topological degree is an optimal method for proving robot loops. This is demonstrated both on datasets from real missions involving autonomous underwater vehicles, and by a mathematical discussion.
dc.language.isoen
dc.publisherSAGE Publications
dc.subject.enmobile robotics
dc.subject.enSLAM
dc.subject.enloop detection
dc.subject.eninterval analysis
dc.subject.entopological degree
dc.subject.entubes
dc.titleProuver l'existence de boucles dans des trajectoires de robots
dc.title.enProving the existence of loops in robot trajectories
dc.typeArticle de revue
dc.identifier.doi10.1177/0278364918808367
dc.subject.halInformatique [cs]/Robotique [cs.RO]
dc.subject.halMathématiques [math]/Systèmes dynamiques [math.DS]
dc.subject.halMathématiques [math]/Analyse numérique [math.NA]
dc.subject.halSciences de l'ingénieur [physics]/Automatique / Robotique
dc.subject.halInformatique [cs]/Intelligence artificielle [cs.AI]
bordeaux.journalThe International Journal of Robotics Research
bordeaux.page1500-1516
bordeaux.volume37
bordeaux.hal.laboratoriesInstitut de Mécanique et d’Ingénierie de Bordeaux (I2M) - UMR 5295*
bordeaux.issue12
bordeaux.institutionUniversité de Bordeaux
bordeaux.institutionBordeaux INP
bordeaux.institutionCNRS
bordeaux.institutionINRAE
bordeaux.institutionArts et Métiers
bordeaux.peerReviewedoui
hal.identifierhal-01904112
hal.version1
hal.origin.linkhttps://hal.archives-ouvertes.fr//hal-01904112v1
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