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Reliable GPS positioning in city environment is a key issue: actually, signals are prone to multipath, with poor satellite geometry in many streets. Using a 3D urban model to forecast satellite visibility in urban contexts in order to improve GPS localization is the main topic of the present article. A virtual image processing that detects and eliminates(More)
A localization system using GPS, ABS sensors and a driving wheel encoder is described and tested through real experiments. A new odometric technique using the four ABS sensors is presented. Due to the redundancy of the measurements, the precision is better than the one of differential odometry using the rear wheels only. The sampling is performed when(More)
—In this paper, initial localization problems are solved by using set-membership estimation. The method can be used with any robot and any kind of sensor(s), provided that a computable model of the environ-ment/sensor interaction is available. With a pedagogical aim in mind, it is detailed in the case of the localization of a vehicle from range measurements(More)
—When reliable prior bounds on the acceptable errors between the data and corresponding model outputs are available, bounded-error estimation techniques make it possible to characterize the set of all acceptable parameter vectors in a guaranteed way, even when the model is nonlinear and the number of data points small. However, when the data may contain(More)
Deals with the displacement of a mobile robot in an unconstrained unstructured closed environment. The robot has to travel from the origin to a desired final point through some passing points. The authors present a survey of the different ways to perform this task. Furthermore, the authors propose an alternative original solution which uses Bezier's(More)
The problem considered here is state estimation in the presence of bounded process and measurement noise. A new nonlinear state estimator, based on interval analysis and the notion of set inversion, is applied to robot localization and tracking. This estimator evaluates a set guaranteed to contain all values of the state that are consistent with the(More)