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

Luc Jaulin, Frédéric Dabe, Alain Bertholom, Michel Legris

2007

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.

References

  1. X. Baguenard. Propagation de contraintes sur les intervalles. Application à l'étalonnage des robots. PhD dissertation, Université d'Angers, Angers, France 2005. Available at: www.istia.univ-angers.fr/˜baguenar/.
  2. P. Bouron. Méthodes ensemblistes pour le diagnostic, l'estimation d'état et la fusion de données temporelles. PhD dissertation, Université de Compiègne, Compiègne, France, (Juillet 2002).
  3. N. Delanoue, L. Jaulin and B. Cottenceau. Using interval arithmetic to prove that a set is path-connected. Theoretical Computer Science, Special issue: Real Numbers and Computers 351(1), 119-128, 2006.
  4. C. Drocourt, L. Delahoche, B. M. E. Brassart and A. Clerentin. Incremental construction of the robot's environmental map using interval analysis. Global Optimization and Constraint Satisfaction: Second International Workshop, COCOS 2003 3478, 127-141 2005.
  5. A. Gning. Localisation garantie d'automobiles. Contribution aux techniques de satisfaction de contraintes sur les intervalles. PhD dissertation, Université de Technologie de Compiègne, Compiègne, France 2006.
  6. A. Gning and P. Bonnifait. Constraints propagation techniques on intervals for a guaranteed localization using redundant data. Automatica 42(7), 1167-1175 (2006).
  7. E. Halbwachs and D. Meizel. Bounded-error estimation for mobile vehicule localization. CESA'96 IMACS Multiconference (Symposium on Modelling, Analysis and Simulation) pp. 1005-1010 (1996).
  8. L. Jaulin, M. Kieffer, O. Didrit, E. Walter. Applied Interval Analysis, with Examples in Parameter and State Estimation, Robust Control and Robotics. SpringerVerlag, London (2001).
  9. J. J. Leonard and H. F. Durrant-Whyte. Dynamic map building for an autonomous mobile robot. International Journal of Robotics Research 11(4) (1992).
  10. F. Lydoire and P. Poignet. Nonlinear predictive control using constraint satisfaction. In 2nd International Workshop on Global Constrained Optimization and Constraint Satisfaction (COCOS), pp. 179-188 (2003).
  11. M. D. Marco, A. Garulli, S. Lacroix and A. Vicino. A set theoretic approach to the simultaneous localization and map building problem. In Proceedings of the 39th IEEE Conference on Decision and Control, vol. 1, pp. 833-838, Sydney, Australia (2000).
  12. D. Meizel, O. Léveˆque, L. Jaulin and E. Walter. Initial localization by set inversion. IEEE transactions on robotics and Automation 18(6), 966-971 (2002).
  13. D. Meizel, A. Preciado-Ruiz and E. Halbwachs. Estimation of mobile robot localization: geometric approaches. In M. Milanese, J. Norton, H. Piet-Lahanier T. Raissi, N. Ramdani and Y. Candau. Set membership state and parameter estimation for systems described by nonlinear differential equations. Automatica 40, 1771-1777 (2004).
  14. S. Thrun and M. Montemerlo. The GraphSLAM algorithm with applications to large-scale mapping of urban structures. International Journal on Robotics Research 25(5/6), 403-430 (2005).
  15. P. H. Vinas, M. A. Sainz, J. Vehi and L. Jaulin. Quantified set inversion algorithm with applications to control. Reliable computing 11(5), 369-382 (2006).
Download


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