A Set Theoretic Approach to Dynamic Robot Localization and Mapping

Authors: Di Marco M.1; Garulli A.2; Giannitrapani A.3; Vicino A.4

Source: Autonomous Robots, Volume 16, Number 1, January 2004 , pp. 23-47(25)

Publisher: Springer

Key:
Free Content - Free Content
New Content - New Content
Subscribed Content - Subscribed Content
Free Trial Content - Free Trial Content

Abstract:

This paper addresses the localization and mapping problem for a robot moving through a (possibly) unknown environment where indistinguishable landmarks can be detected. A set theoretic approach to the problem is presented. Computationally efficient algorithms for measurement-to-feature matching, estimation of landmark positions, estimation of robot location and heading are derived, in terms of uncertainty regions, under the hypothesis that errors affecting all sensors measurements are unknown-but-bounded. The proposed technique is validated in both simulation and experimental setups.

Keywords: localization; mapping; SLAM; uncertainty; set membership

Document Type: Research article

DOI: 10.1023/B:AURO.0000008670.09004.ce

Affiliations: 1: Dipartimento di Ingegneria dell'Informazione, Università di Siena, Via Roma, 56-53100 Siena, Italy., Email: dimarco@dii.unisi.it 2: Dipartimento di Ingegneria dell'Informazione, Università di Siena, Via Roma, 56-53100 Siena, Italy., Email: garulli@dii.unisi.it 3: Dipartimento di Ingegneria dell'Informazione, Università di Siena, Via Roma, 56-53100 Siena, Italy., Email: giannitrapani@dii.unisi.it 4: Dipartimento di Ingegneria dell'Informazione, Università di Siena, Via Roma, 56-53100 Siena, Italy., Email: vicino@dii.unisi.it

The full text electronic article is available for purchase. You will be able to download the full text electronic article after payment.

$47.00 plus tax      Refund Policy

 

OR

Back to top

Key:
Free Content - Free Content
New Content - New Content
Subscribed Content - Subscribed Content
Free Trial Content - Free Trial Content
Share this item with others: These icons link to social bookmarking sites where readers can share and discover new web pages.
Page Help Click here for Page Help
Shopping cart
Tools
Sign in






Need to register?
Sign up here
Text size: A | A | A | A