%0 Journal Article
%T A nonlinear set-membership approach for the localization and map building of an underwater robot using interval constraint propagation
%+ Développement des Technologies Nouvelles (DTN)
%A Jaulin, Luc
%Z WOS
%< avec comité de lecture
%@ 1552-3098
%J IEEE Transactions on Robotics
%I IEEE
%V 25
%N 1
%P 88-98
%8 2009-06-01
%D 2009
%R 10.1109/TRO.2008.2010358Journal articles
%X 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.
%G English
%L hal-00449523
%U https://hal.science/hal-00449523
%~ ENSTA-BRETAGNE
%~ ENSTA-BRETAGNE-STIC
%~ ENSIETA-DTN