%0 Conference Proceedings
%T Interval SLAM for underwater robots; a new experiment
%+ Extraction et Exploitation de l'Information en Environnements Incertains (E3I2)
%+ Département STIC [Brest] (STIC)
%+ Groupe d'Etudes Sous-Marines de l'Atlantique (DGA/DET/GESMA)
%A Le Bars, Fabrice
%A Bertholom, Alain
%A Sliwka, Jan
%A Jaulin, Luc
%< avec comité de lecture
%( NOLCOS 2010
%B NOLCOS 2010
%C France
%P XX
%8 2010-09-01
%D 2010
%K localization
%K SLAM
%K interval analysis
%K underwater robot
%K constraint propagation
%K set-membership estimation
%K localization.
%Z Engineering Sciences [physics]/AutomaticConference papers
%X This paper provides a new submarine experiment and shows the results of an interval SLAM (Simultaneous Localization And Mapping) method. The SLAM problem is cast into a constraint satisfaction problem where interval propagation algorithms are particularly efficient. The resulting method is applied to the localization of a submarine robot from the GESMA (Groupe d'Etudes Sous-Marines de l'Atlantique), the Daurade during an experiment in the Douarnenez bay, in Brittany (France).
%G English
%2 https://hal-ensta-bretagne.archives-ouvertes.fr/hal-00636026/document
%2 https://hal-ensta-bretagne.archives-ouvertes.fr/hal-00636026/file/nolcos10.pdf
%L hal-00636026
%U https://hal-ensta-bretagne.archives-ouvertes.fr/hal-00636026
%~ ENSTA-BRETAGNE
%~ ENSTA-BRETAGNE-STIC
%~ ENSIETA-E3I2
%~ TDS-MACS