Reliable Robot Localization

A Constraint-Programming Approach Over Dynamical Systems

Reliable Robot Localization

Simon Rohou, ENSTA Bretagne-Lab-STICC, France
Luc Jaulin, ENSTA Bretagne-Lab-STICC, France
Lyudmila Mihaylova, University of Sheffield, UK
Fabrice Le Bars, ENSTA Bretagne-Lab-STICC, France
Sandor M. Veres, University of Sheffield, UK

ISBN : 9781848219700

Publication Date : November 2019

Hardcover 284 pp

145.00 USD



Localization for underwater robots remains a challenging issue. Typical sensors, such as Global Navigation Satellite System (GNSS) receivers, cannot be used under the surface and other inertial systems suffer from a strong integration drift. On top of that, the seabed is generally uniform and unstructured, making it difficult to apply Simultaneous Localization and Mapping (SLAM) methods to perform localization.

Reliable Robot Localization presents an innovative new method which can be characterized as a raw-data SLAM approach. It differs from extant methods by considering time as a standard variable to be estimated, thus raising new opportunities for state estimation, so far underexploited. However, such temporal resolution is not straightforward and requires a set of theoretical tools in order to achieve the main purpose of localization.

This book not only presents original contributions to the field of mobile robotics, it also offers new perspectives on constraint programming and set-membership approaches. It provides a reliable contractor programming framework in order to build solvers for dynamical systems. This set of tools is illustrated throughout this book with realistic robotic applications.


Part 1. Interval Tools
1. Static Set-membership State Estimation.
2. Constraints Over Sets of Trajectories.

Part 2. Constraints-related Contributions
3. Trajectories under Differential Constraints.
4. Trajectories Under Evaluation Constraints.

Part 3. Robotics-related Contributions
5. Looped Trajectories: From Detections to Proofs.
6. A Reliable Temporal Approach for the SLAM Problem.

About the authors/editors

Simon Rohou is an Associate Professor at ENSTA Bretagne -Lab-STICC (Brest, France).

Luc Jaulin is Full Professor of Robotics at ENSTA Bretagne-Lab-STICC.

Lyudmila Mihaylova is Professor of Signal Processing and Control with the Department of Automatic Control and Systems Engineering at the University of Sheffield (UK).

Fabrice Le Bars is an Associate Professor at ENSTA Bretagne-Lab-STICC.

Sandor M. Veres holds a chair in Autonomous Control Systems, and leads the Robotics and Autonomous Systems Research Group at the Department of Automatic Control and Systems Engineering at the University of Sheffield.

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