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

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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: http://dx.doi.org/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

Publication date: 2004-01-01