January 2020
Intermediate to advanced
284 pages
6h 9m
English
book
Reliable Robot Localization
by Simon Rohou, Luc Jaulin, Lyudmila Mihaylova, Fabrice Le Bars, Sandor M. Veres
Content preview from Reliable Robot Localization
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PART 3Robotics-related Contributions
Introduction to Part 3
The ultimate application of this work is a new reliable SLAM method suited for long-term missions in poor environments. The resolution of this localization problem requires a set of elementary tools that have been developed in Part 2. Chapter 6 aims to apply the new contractors on inter-temporal constraints of interest for the SLAM.
However, in order to soundly solve the problem, we still need to study a final constraint. This will be related to the development of another tool to prove loops along robot trajectories. Chapter 5 is our third contribution, in which we combine the topological theory together with interval analysis and tubes. The result is a new loop existence test that will be directly applied in the last chapter for underwater applications.
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