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A Set Theoretic Approach to Dynamic Robot Localization and Mapping

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Abstract

This paper addresses the localization and mapping problem for a robot moving through a (possibly) unknown environment where indistinguishable landmarks can be detected. A set theoretic approach to the problem is presented. Computationally efficient algorithms for measurement-to-feature matching, estimation of landmark positions, estimation of robot location and heading are derived, in terms of uncertainty regions, under the hypothesis that errors affecting all sensors measurements are unknown-but-bounded. The proposed technique is validated in both simulation and experimental setups.

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Authors
  1. M. Di Marco
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  2. A. Garulli
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  3. A. Giannitrapani
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  4. A. Vicino
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Di Marco, M., Garulli, A., Giannitrapani, A. et al. A Set Theoretic Approach to Dynamic Robot Localization and Mapping. Autonomous Robots 16, 23–47 (2004). https://doi.org/10.1023/B:AURO.0000008670.09004.ce

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  • DOI: https://doi.org/10.1023/B:AURO.0000008670.09004.ce

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