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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.

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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


Vincent Drevelle

BibTex Reference

   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}

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