A Set Theoretic Approach to Dynamic Robot Localization and Mapping

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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.

Mauro Di Marco, Andrea Garulli, Antonio Giannitrap

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AROBOTS 2004 | Indistinguishable Landmarks | Mapping Problem | Set Theoretic Approach |

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Added	16 Dec 2010
Updated	16 Dec 2010
Type	Journal
Year	2004
Where	AROBOTS
Authors	Mauro Di Marco, Andrea Garulli, Antonio Giannitrapani, Antonio Vicino

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A Set Theoretic Approach to Dynamic Robot Localization and Mapping

AROBOTS 2004 | Indistinguishable Landmarks | Mapping Problem | Set Theoretic Approach |

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