A SET APPROACH TO THE SIMULTANEOUS LOCALIZATION AND MAP BUILDING - Application to Underwater Robots

Luc Jaulin, Frédéric Dabe, Alain Bertholom, Michel Legris

Abstract

This paper proposes a set approach for the simultaneous localization and mapping (SLAM) in a submarine context. It shows that this problem can be cast into a constraint satisfaction problem which can be solve efficiently using interval analysis and propagation algorithms. The efficiency of the resulting propagation method is illustrated on the localization of submarine robot, named Redermor. The experiments have been collected by the GESMA (Groupe d’Etude Sous-Marine de l’Atlantique) in the Douarnenez Bay, in Brittany.

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Paper Citation


in Harvard Style

Jaulin L., Dabe F., Bertholom A. and Legris M. (2007). A SET APPROACH TO THE SIMULTANEOUS LOCALIZATION AND MAP BUILDING - Application to Underwater Robots . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 65-69. DOI: 10.5220/0001639000650069


in Bibtex Style

@conference{icinco07,
author={Luc Jaulin and Frédéric Dabe and Alain Bertholom and Michel Legris},
title={A SET APPROACH TO THE SIMULTANEOUS LOCALIZATION AND MAP BUILDING - Application to Underwater Robots},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={65-69},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001639000650069},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - A SET APPROACH TO THE SIMULTANEOUS LOCALIZATION AND MAP BUILDING - Application to Underwater Robots
SN - 978-972-8865-83-2
AU - Jaulin L.
AU - Dabe F.
AU - Bertholom A.
AU - Legris M.
PY - 2007
SP - 65
EP - 69
DO - 10.5220/0001639000650069