Range-Only SLAM With Occupancy Maps: A Set-Membership Approach

  title={Range-Only SLAM With Occupancy Maps: A Set-Membership Approach},
  author={Luc Jaulin},
  journal={IEEE Transactions on Robotics},
  • L. Jaulin
  • Published 1 October 2011
  • Mathematics
  • IEEE Transactions on Robotics
This paper proposes a new set-membership approach to solve range-only simultaneous localization and mapping (SLAM) problems in the case where the map is described by an arbitrary occupancy set (i.e., we do not assume that the map is composed of segments, punctual marks, etc.). The principle is to transform the SLAM problem into a hybrid constraint satisfaction problem (CSP), where the variables can either be real numbers, vectors, trajectories, or subsets of \BBRn. An extension of existing… 
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