Using interval methods in the context of robust localization of underwater robots

Jan Sliwka (1) , Fabrice Le Bars (1) , Olivier Reynet (1) , Luc Jaulin (1)

1 E3I2 - Extraction et Exploitation de l'Information en Environnements Incertains

In this paper we will apply interval methods to solve the problem of robust localization of an underwater robot. The localization problem is cast into a constraint satisfaction problem (CSP) where constraint propagation algorithms are particularly efficient. The method is designed to work in real environments with numerous outliers. Besides, we used a new approach to represent the map by a binary image. This allow us to represent even unstructured maps. We tested the algorithm on a real data set gathered by an underwater robot in a marina located in Costa Brava.

Mots clés: Robotics; Interval methods

Domaines: Automatique / Robotique

Jan Sliwka, Fabrice Le Bars, Olivier Reynet, Luc Jaulin. Using interval methods in the context of robust localization of underwater robots. NAFIPS'11, Mar 2011, El Paso, Texas, United States. ⟨hal-00583049⟩