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| HAL : hal-00428967, version 1 |
| Fiche détaillée |  Récupérer au format |
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| CP'09 (15th International Conference on Principles and Practice of Constraint Programming), Lisbon : Portugal (2009) |
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| A Constraint on the Number of Distinct Vectors with Application to Localization |
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| Gilles Chabert 1Luc Jaulin 2 |
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| (2009) |
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| This paper introduces a generalization of the "nvalue" constraint that bounds the number of distinct values taken by a set of variables.The generalized constraint (called "nvector") bounds the number of distinct (multi-dimensional) vectors. The first contribution of this paper is to show that this global constraint has a significant role to play with continuous domains, by taking the example of simultaneous localization and map building (SLAM). This type of problem arises in the context of mobile robotics. The second contribution is to prove that enforcing bound consistency on this constraint is NP-complete. A simple contractor (or propagator) is proposed and applied on a real application. |
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| 1 : | Laboratoire d'Informatique de Nantes Atlantique (LINA) |
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CNRS : UMR6241 – Université de Nantes – Ecole des Mines de Nantes |
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| 2 : | Développement des Technologies Nouvelles (DTN) |
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ENSTA Bretagne |
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| Contraintes (LINA); DTN (ENSIETA) |
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| Domaine | : | Informatique/Intelligence artificielle |
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| Liste des fichiers attachés à ce document : | |||||
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| hal-00428967, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00428967 | |
| oai:hal.archives-ouvertes.fr:hal-00428967 | |
| Contributeur : Gilles Chabert | |
| Soumis le : Vendredi 30 Octobre 2009, 10:51:23 | |
| Dernière modification le : Lundi 15 Février 2010, 16:33:12 | |
