%0 Conference Proceedings
%F Drevelle2013-NOLCOS
%A Drevelle, V.
%A Jaulin, L.
%A Zerr, B.
%T {Guaranteed Characterization of the Explored Space of a Mobile Robot by using Subpavings}
%B {9th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2013}
%P 44-49
%C Toulouse, France
%X 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
%U https://hal.archives-ouvertes.fr/hal-00914063/file/paper_drevelle_nolcos_2013.pdf
%U http://dx.doi.org/10.3182/20130904-3-FR-2041.00167
%8 September
%D 2013