A Set Theoretic Approach to Dynamic Robot Localization and Mapping

Authors:
M. Di Marco;A. Garulli;A. Giannitrapani;A. Vicino
Affiliations:
Dipartimento di Ingegneria dell'Informazione, Università di Siena, Via Roma, 56-53100 Siena, Italy. dimarco@dii.unisi.it;Dipartimento di Ingegneria dell'Informazione, Università di Siena, Via Roma, 56-53100 Siena, Italy. garulli@dii.unisi.it;Dipartimento di Ingegneria dell'Informazione, Università di Siena, Via Roma, 56-53100 Siena, Italy. giannitrapani@dii.unisi.it;Dipartimento di Ingegneria dell'Informazione, Università di Siena, Via Roma, 56-53100 Siena, Italy. vicino@dii.unisi.it
Venue:
Autonomous Robots
Year:
2004

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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.