Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
695969 | Automatica | 2013 | 8 Pages |
Abstract
This paper proposes an original set-membership approach for loop detection of mobile robots in the situation where proprioceptive sensors only are available. To detect loops, the new concepts of thett-plane (which is a two dimensional space with time coordinates) are introduced. Intervals of functions (or tubes) are then used to represent uncertain trajectories and tests are provided in order to eliminate parts of the tt-plane that do not correspond to any loop. An experiment with an actual underwater robot is proposed in order to illustrate the principle and the efficiency of the approach.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Clément Aubry, Rozenn Desmare, Luc Jaulin,