Drevelle2013-NOLCOS
V. Drevelle, L. Jaulin, B. Zerr. Guaranteed Characterization of the Explored Space of a Mobile Robot by using Subpavings. In 9th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2013, Pages 44-49, Toulouse, France, September 2013.
Download [help]
Download paper:
Doi page 
Download Hal paper:
Download paper:
Adobe portable document (pdf) 
Copyright notice:
This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder. This page is automatically generated by bib2html v217, © Inria 2002-2024, Projet Lagadic/Rainbow
Abstract
This paper proposes a method to characterize the space explored by a mobile robot during a mission. Because of localization uncertainty, the area osculated by a sensor at a given time is uncertain too. The problem is modeled by using intervals to represent trajectory uncertainties and a visibility function to describe the area in view at a given time. A set-inversion method is then applied to compute a guaranteed visible area and a possible visible area with respect to positioning uncertainty. A bracketing of the actual explored area between a guaranteed explored area and a possible explored area for the whole mission is finally obtained by respectively taking the union of the guaranteed and possible areas. Results from a simulated underwater exploration mission are presented
Contact
BibTex Reference
@InProceedings{Drevelle2013-NOLCOS,
Author = {Drevelle, V. and Jaulin, L. and Zerr, B.},
Title = {{Guaranteed Characterization of the Explored Space of a Mobile Robot by using Subpavings}},
BookTitle = {{9th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2013}},
Pages = {44--49},
Address = {Toulouse, France},
Month = {September},
Year = {2013}
}
EndNote Reference [help]
Get EndNote Reference (.ref)