MOBILE ROBOT LOCALIZATION BY CONSTRAINT PROPAGATION ON INTERVALS

Mélanie Delafosse; Arnaud Clérentin; Laurent Delahoche; Eric Brassart

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Paper

MOBILE ROBOT LOCALIZATION BY CONSTRAINT PROPAGATION ON INTERVALS

Topics: Mobile Robots and Autonomous Systems

In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 235-242, 2004 , Setúbal, Portugal

Authors: Mélanie Delafosse ; Arnaud Clérentin ; Laurent Delahoche and Eric Brassart

Affiliation: IUT, France

Keyword(s): Mobile robot localization, interval analysis, constraint propagation, data fusion.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: This paper proposes to use constraint propagation on intervals to solve the mobile robot localization problem. The mobile robot is equipped with an exteroceptive sensor and dead-reckoning. These two sensors give imprecise data that are modelled by intervals. Our localization strategy is based on multi target tracking. To this aim, the data given by our two sensors are fused by constraint propagation. So, at the end of the localization process, we get a 3-D subpaving which is supposed to contain the robot’s position in a guaranteed way. The localization imprecision is naturally managed by our method.

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Paper citation in several formats:

Delafosse, M.; Clérentin, A.; Delahoche, L. and Brassart, E. (2004). MOBILE ROBOT LOCALIZATION BY CONSTRAINT PROPAGATION ON INTERVALS. In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 972-8865-12-0; ISSN 2184-2809, SciTePress, pages 235-242. DOI: 10.5220/0001135502350242

@conference{icinco04,
author={Mélanie Delafosse. and Arnaud Clérentin. and Laurent Delahoche. and Eric Brassart.},
title={MOBILE ROBOT LOCALIZATION BY CONSTRAINT PROPAGATION ON INTERVALS},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2004},
pages={235-242},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001135502350242},
isbn={972-8865-12-0},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - MOBILE ROBOT LOCALIZATION BY CONSTRAINT PROPAGATION ON INTERVALS
SN - 972-8865-12-0
IS - 2184-2809
AU - Delafosse, M.
AU - Clérentin, A.
AU - Delahoche, L.
AU - Brassart, E.
PY - 2004
SP - 235
EP - 242
DO - 10.5220/0001135502350242
PB - SciTePress