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.
DI MARCO, M., Garulli, A., Giannitrapani, A., Vicino, A. (2004). A set theoretic approach to dynamic robot localization and mapping. AUTONOMOUS ROBOTS, 16(1), 23-47 [10.1023/B:AURO.0000008670.09004.ce].
A set theoretic approach to dynamic robot localization and mapping
DI MARCO, MAURO;GARULLI, ANDREA;GIANNITRAPANI, ANTONIO;VICINO, ANTONIO
2004-01-01
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.
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https://hdl.handle.net/11365/26012
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