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Loop detection of mobile robots using interval analysis

Clément Aubry 1 Rozenn Desmare 1 Luc Jaulin 2
2 Lab-STICC_ENSTAB_CID_IHSEV ; OSM
STIC - Département STIC [Brest], Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
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 t-plane (which is a two dimensional space with time coordinates) is introduced. Interval of functions (or tubes) are then used to represent uncertain trajectories and tests are provided in order to elimate parts of the tplane 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.
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https://hal-ensta-bretagne.archives-ouvertes.fr/hal-00773530
Contributor : Annick Billon-Coat <>
Submitted on : Monday, January 14, 2013 - 11:13:14 AM
Last modification on : Wednesday, April 21, 2021 - 11:36:03 AM

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  • HAL Id : hal-00773530, version 1

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Clément Aubry, Rozenn Desmare, Luc Jaulin. Loop detection of mobile robots using interval analysis. Automatica, Elsevier, 2013, 49 (2), pp.463-470. ⟨hal-00773530⟩

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