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Using interval methods in the context of robust localization of underwater robots

Abstract : In this paper we will apply interval methods to solve the problem of robust localization of an underwater robot. The localization problem is cast into a constraint satisfaction problem (CSP) where constraint propagation algorithms are particularly efficient. The method is designed to work in real environments with numerous outliers. Besides, we used a new approach to represent the map by a binary image. This allow us to represent even unstructured maps. We tested the algorithm on a real data set gathered by an underwater robot in a marina located in Costa Brava.
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https://hal-ensta-bretagne.archives-ouvertes.fr/hal-00583049
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Submitted on : Monday, April 4, 2011 - 3:53:20 PM
Last modification on : Monday, July 20, 2020 - 11:24:14 AM
Long-term archiving on: : Tuesday, July 5, 2011 - 2:37:28 AM

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  • HAL Id : hal-00583049, version 1

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Jan Sliwka, Fabrice Le Bars, Olivier Reynet, Luc Jaulin. Using interval methods in the context of robust localization of underwater robots. NAFIPS'11, Mar 2011, El Paso, Texas, United States. ⟨hal-00583049⟩

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