Set membership localization and mapping for autonomous navigation

DOI10.1002/RNC.619MaRDI QIDQ2732935zbMATH OpenOpenAlexFDO

Authors M. Di Marco, Andrea Garulli, S. Lacroix, Antonio Vicino

Publication date 4 March 2003

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rnc.619

zbMATH Keywords

autonomous navigationbounded errorsestimation errorsmobile robotsset membership estimationsimultaneous localization and mappinguncertainty sets

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

Review text

This paper considers the problem of simultaneous localization and mapping (SLAM) of mobile robots in unknown/uncertain environments. It is assumed that the robot is equipped with proper sensors to get relative measurements of its position with respect to the relevant elements of the environment in which it is moving and that no 3-D model is required. No statistical assumption is made on the errors that affect the sensors, but it is assumed that the errors are bounded in norm by some quantity. This leads naturally to a set-theoretic approach to the problem. Estimates of the position of the robot and the selected landmarks are derived in terms of feasible uncertainty sets, which provide a good quantitative description of the estimation errors. The development of the paper relies on the so-called set membership estimation theory. Using this theory, efficient recursive algorithms, suitable for online implementation, are derived. The theoretical results are supported by simulation experiments that show the high-level performance of the algorithms.

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Cites work

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• scientific article; zbMATH DE number 53983 (Why is no real title available?)
• scientific article; zbMATH DE number 890273 (Why is no real title available?)
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Cited in

(9)

• Loop detection of mobile robots using interval analysis
• Actions of the hyperoctahedral group to compute minimal contractors
• Path planning with uncertainty: a set membership approach
• Simultaneous planning, localization, and mapping in a camera sensor network
• Visual simultaneous localisation and map-building supported by structured landmarks
• scientific article; zbMATH DE number 1871406 (Why is no real title available?)
• The iterated extended set membership filter applied to relative localization between autonomous vehicles based on GNSS and UWB ranging
• A frequentist approach to mapping under uncertainty
• A statistical approach to simultaneous mapping and localization for mobile robots

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