Dynamic map building for an autonomous mobile robot
International Journal of Robotics Research
Guaranteed nonlinear parameter estimation from bounded-error data via interval analysis
Mathematics and Computers in Simulation
Using interval arithmetic to prove that a set is path-connected
Theoretical Computer Science - Real numbers and computers
Combined Path-following and Obstacle Avoidance Control of a Wheeled Robot
International Journal of Robotics Research
Brief Paper: Box particle filtering for nonlinear state estimation using interval analysis
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Artificial Intelligence
A nonlinear set membership approach for the localization and map building of underwater robots
IEEE Transactions on Robotics
Incremental construction of the robot's environmental map using interval analysis
COCOS'03 Proceedings of the Second international conference on Global Optimization and Constraint Satisfaction
Nonlinear predictive control using constraints satisfaction
COCOS'03 Proceedings of the Second international conference on Global Optimization and Constraint Satisfaction
Fast and Incremental Method for Loop-Closure Detection Using Bags of Visual Words
IEEE Transactions on Robotics
Automatica (Journal of IFAC)
| Hi-index | 22.14 |
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 thet-plane (which is a two dimensional space with time coordinates) are introduced. Intervals of functions (or tubes) are then used to represent uncertain trajectories and tests are provided in order to eliminate parts of the t-plane 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.