A nonlinear set-membership approach for the localization and map building of an underwater robot using interval constraint propagation

Luc Jaulin (1)

1 DTN - Développement des Technologies Nouvelles

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.

Luc Jaulin. A nonlinear set-membership approach for the localization and map building of an underwater robot using interval constraint propagation. IEEE Transactions on Robotics, 2009, 25 (1), pp.88-98. ⟨10.1109/TRO.2008.2010358⟩. ⟨hal-00449523⟩