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Computing a Guaranteed Approximation of the Zone Explored by a Robot

Benoît Desrochers 1 Luc Jaulin 2, 3
2 Pôle STIC_OSM
ENSTA Bretagne - École Nationale Supérieure de Techniques Avancées Bretagne
3 Lab-STICC_ENSTAB_CID_PRASYS
Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
Abstract : This paper deals with the guaranteed characterization of the part of the space that has been explored by a robot. The main difficulty of the problem is to take into account the uncertainty associated with the trajectory and the fact that the dimension of the visible space at time t may be smaller than that of the workspace. An example involving an experiment made with an actual underwater robot is presented in order to illustrate the efficiency of the approach.
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Benoît Desrochers, Luc Jaulin. Computing a Guaranteed Approximation of the Zone Explored by a Robot. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2017, 62 (1), pp.425 - 430. ⟨10.1109/TAC.2016.2530719⟩. ⟨hal-01298366⟩

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