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A Nonlinear Set Membership Approach for the Localization and Map Building of Underwater Robots

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1 Author(s)
Jaulin, L. ; Dev. Technol. Nouvelles, Ecole Nat. Super. des Ing. des Etudes et Tech. d''Armements, Brest

This paper proposes a set membership method based on interval analysis to solve the simultaneous localization and map building (SLAM) problem. The principle of the approach is to cast the SLAM problem into a constraint satisfaction problem for which interval propagation algorithms are particularly powerful. The resulting propagation method is illustrated on the localization and map building of an actual underwater robot.

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Robotics, IEEE Transactions on  (Volume:25 ,  Issue: 1 )