Loop detection of mobile robots using interval analysis
dc.contributor.author
hal.structure.identifier | AUBRY, Clément
|
dc.contributor.author
hal.structure.identifier | DESMARE, Rozenn
|
dc.contributor.author
hal.structure.identifier | JAULIN, Luc
|
dc.date.accessioned | 2014 |
dc.date.available | 2014 |
dc.date.issued | 2013 |
dc.date.submitted | 2014 |
dc.identifier.issn | 0005-1098 |
dc.identifier.uri | http://hdl.handle.net/10985/9035 |
dc.description.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 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.rights | Post-print |
dc.subject | Loop closure |
dc.subject | Interval analysis |
dc.subject | Robotics |
dc.subject | Tubes |
dc.subject | SLAM |
dc.title | Loop detection of mobile robots using interval analysis |
dc.identifier.doi | 10.1016/j.automatica.2012.11.009 |
dc.typdoc | Article dans une revue avec comité de lecture |
dc.localisation | Centre de Paris |
dc.subject.hal | Sciences de l'ingénieur: Automatique / Robotique |
ensam.audience | Internationale |
ensam.page | 463-470 |
ensam.journal | Automatica |
ensam.volume | 49 |
ensam.issue | 2 |
hal.identifier | hal-01089257 |
hal.version | 1 |
hal.submission.permitted | updateMetadata |
hal.status | accept |