A nonlinear set membership approach for the localization and map building of underwater robots

Authors:
Luc Jaulin
Affiliations:
Ecole Nationale Superieure des Ingenieurs des Etudes et Techniques d’Armements, Developpement Technologies Nouvelles, Brest, France and Groupe d’Etude Sous-Marine de l’Atlantique ...
Venue:
IEEE Transactions on Robotics
Year:
2009

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Abstract

This paper proposes a set membership method based on interval analysis to solve the simultaneous localization and map building (SLAM) problem. The principle of the approach is to cast the SLAM problem into a constraint satisfaction problem for which interval propagation algorithms are particularly powerful. The resulting propagation method is illustrated on the localization and map building of an actual underwater robot.