Loop detection of mobile robots using interval analysis
| hal.structure.identifier | Institut de Recherche de l'Ecole Navale [IRENAV] | |
| dc.contributor.author | AUBRY, Clément | |
| hal.structure.identifier | Institut de Recherche de l'Ecole Navale [IRENAV] | |
| dc.contributor.author | DESMARE, Rozenn | |
| hal.structure.identifier | Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance [Lab-STICC] | |
| dc.contributor.author | JAULIN, Luc | |
| dc.date.accessioned | 2021-05-14T09:58:36Z | |
| dc.date.available | 2021-05-14T09:58:36Z | |
| dc.date.issued | 2013-02 | |
| dc.identifier.issn | 0005-1098 | |
| dc.identifier.uri | https://oskar-bordeaux.fr/handle/20.500.12278/77957 | |
| dc.description | 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. | |
| dc.description.abstractEn | 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. | |
| dc.language.iso | en | |
| dc.publisher | Elsevier | |
| dc.subject.en | Loop closure | |
| dc.subject.en | Interval analysis | |
| dc.subject.en | Robotics | |
| dc.subject.en | Tubes | |
| dc.subject.en | SLAM | |
| dc.title.en | Loop detection of mobile robots using interval analysis | |
| dc.type | Article de revue | |
| dc.identifier.doi | 10.1016/j.automatica.2012.11.009 | |
| dc.subject.hal | Sciences de l'ingénieur [physics]/Automatique / Robotique | |
| bordeaux.journal | Automatica | |
| bordeaux.page | 463-470 | |
| bordeaux.volume | 49 | |
| bordeaux.hal.laboratories | Institut de Mécanique et d’Ingénierie de Bordeaux (I2M) - UMR 5295 | * |
| bordeaux.issue | 2 | |
| bordeaux.institution | Université de Bordeaux | |
| bordeaux.institution | Bordeaux INP | |
| bordeaux.institution | CNRS | |
| bordeaux.institution | INRAE | |
| bordeaux.institution | Arts et Métiers | |
| bordeaux.peerReviewed | oui | |
| hal.identifier | hal-01089257 | |
| hal.version | 1 | |
| hal.origin.link | https://hal.archives-ouvertes.fr//hal-01089257v1 | |
| bordeaux.COinS | ctx_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.jtitle=Automatica&rft.date=2013-02&rft.volume=49&rft.issue=2&rft.spage=463-470&rft.epage=463-470&rft.eissn=0005-1098&rft.issn=0005-1098&rft.au=AUBRY,%20Cl%C3%A9ment&DESMARE,%20Rozenn&JAULIN,%20Luc&rft.genre=article |
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