Loop detection of mobile robots using interval analysis
JAULIN, Luc
Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance [Lab-STICC]
Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance [Lab-STICC]
JAULIN, Luc
Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance [Lab-STICC]
< Reduce
Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance [Lab-STICC]
Language
en
Article de revue
This item was published in
Automatica. 2013-02, vol. 49, n° 2, p. 463-470
Elsevier
English Abstract
This paper proposes an original set-membership approach for loop detection of mobile robots in the situation where proprioceptive sensors only are available. To detect loops, the new concepts of the t-plane (which is a two ...Read more >
This paper proposes an original set-membership approach for loop detection of mobile robots in the situation where proprioceptive sensors only are available. To detect loops, the new concepts of the t-plane (which is a two dimensional space with time coordinates) are introduced. Intervals of functions (or tubes) are then used to represent uncertain trajectories and tests are provided in order to eliminate parts of the t-plane that do not correspond to any loop. An experiment with an actual underwater robot is proposed in order to illustrate the principle and the efficiency of the approach.Read less <
English Keywords
Loop closure
Interval analysis
Robotics
Tubes
SLAM
Origin
Hal imported