Mobile Robots Pose Tracking - A Set-membership Approach using a Visibility Information

Rémy Guyonneau, Sébastien Lagrange, Laurent Hardouin

2012

Abstract

This paper proposes a set-membership method based on interval analysis to solve the pose tracking problem. The originality of this approach is to consider weak sensors data: the visibility between two robots. By using a team of robots and this boolean information (two robots see each other or not), the objective is to compensate the odometry errors and be able to localize, in a guaranteed way, the robots in an indoor environment. This environment is supposed to be defined by two sets, an inner and an outer characterizations. Simulated results allow to evaluate the efficiency and the limits of the proposed method.

Paper Citation

in Harvard Style

Guyonneau R., Lagrange S. and Hardouin L. (2012). Mobile Robots Pose Tracking - A Set-membership Approach using a Visibility Information . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 292-297. DOI: 10.5220/0004039702920297

in Bibtex Style

@conference{icinco12,
author={Rémy Guyonneau and Sébastien Lagrange and Laurent Hardouin},
title={Mobile Robots Pose Tracking - A Set-membership Approach using a Visibility Information},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={292-297},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004039702920297},
isbn={978-989-8565-22-8},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Mobile Robots Pose Tracking - A Set-membership Approach using a Visibility Information
SN - 978-989-8565-22-8
AU - Guyonneau R.
AU - Lagrange S.
AU - Hardouin L.
PY - 2012
SP - 292
EP - 297
DO - 10.5220/0004039702920297