A Set Theoretic Approach to Dynamic Robot Localization and Mapping

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 measurementto-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.

• Type: Journal
• Year: 2004
• Where: AROBOTS
• Authors: Mauro Di Marco, Andrea Garulli, Antonio Giannitrapani, Antonio Vicino
• Keywords: AROBOTS 2004, Indistinguishable Landmarks, Mapping Problem, Set Theoretic Approach