A Nonlinear Set Membership Approach for the Localization and Map Building of Underwater Robots

  title={A Nonlinear Set Membership Approach for the Localization and Map Building of Underwater Robots},
  author={Luc Jaulin},
  journal={IEEE Transactions on Robotics},
  • L. Jaulin
  • Published 1 February 2009
  • Engineering
  • IEEE Transactions on Robotics
This paper proposes a set membership method based on interval analysis to solve the simultaneous localization and map building (SLAM) problem. The principle of the approach is to cast the SLAM problem into a constraint satisfaction problem for which interval propagation algorithms are particularly powerful. The resulting propagation method is illustrated on the localization and map building of an actual underwater robot. 

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