Authors:
Luc Jaulin
1
;
Frédéric Dabe
2
;
Alain Bertholom
2
and
Michel Legris
1
Affiliations:
1
E3I2, ENSIETA, France
;
2
GESMA, France
Keyword(s):
Bounded-error, constraint propagation, interval analysis, SLAM, state estimation, submarine robots, robotics.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Robotics and Automation
;
Space and Underwater Robotics
Abstract:
This paper proposes a set approach for the simultaneous localization and mapping (SLAM) in a submarine context. It shows that this problem can be cast into a constraint satisfaction problem which can be solve efficiently using interval analysis and propagation algorithms. The efficiency of the resulting propagation method is illustrated on the localization of submarine robot, named Redermor. The experiments have been collected by the GESMA (Groupe d’Etude Sous-Marine de l’Atlantique) in the Douarnenez Bay, in Brittany.