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Article dans une revue

Guaranteed SLAM—An interval approach

Abstract : This paper proposes a new approach, interval Simultaneous Localization and Mapping (i-SLAM), which addresses the robotic mapping problem in the context of interval methods, where the robot sensor noise is assumed bounded. With no prior knowledge about the noise distribution or its probability density function, we derive and present necessary conditions to guarantee the map convergence even in the presence of nonlinear observation and motion models. These conditions may require the presence of some anchoring landmarks with known locations. The performance of i-SLAM is compared with the probabilistic counterparts in terms of accuracy and efficiency.
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https://hal.univ-angers.fr/hal-02517508
Contributeur : Marie-Françoise Gerard <>
Soumis le : mardi 24 mars 2020 - 16:07:59
Dernière modification le : mardi 24 mars 2020 - 16:10:58

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Mohamed Mustafa, Alexandru Stancu, Nicolas Delanoue, Eduard Codres. Guaranteed SLAM—An interval approach. Robotics and Autonomous Systems, Elsevier, 2018, 100, pp.160-170. ⟨10.1016/j.robot.2017.11.009⟩. ⟨hal-02517508⟩

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