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Reliable Robot Localization 1st Edition by Simon Rohou, Luc Jaulin, Lyudmila Mihaylova, Fabrice Le Bars, Sandor M Veres ISBN 9781848219700 1848219709

Name: Reliable Robot Localization 1st Edition by Simon Rohou, Luc Jaulin, Lyudmila Mihaylova, Fabrice Le Bars, Sandor M Veres ISBN 9781848219700 1848219709
SKU: EB-45017078
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Reliable Robot Localization A Constraint Programming Approach Over Dynamical Systems 1st Edition Simon Rohou Digital Instant Download

Author(s): Simon Rohou, Luc Jaulin, Lyudmila Mihaylova, Fabrice Le Bars, Sandor M. Veres

ISBN(s): 9781848219700, 9781119681007, 9781119680963, 1848219709, 1119681006, 1119680964

Edition: 1

File Details: PDF, 10.36 MB

Year: 2020

Language: English

SKU: EB-45017078 Category: Engineering - Robotics & Artificial Intelligence Tags: Fabrice Le Bars, Luc Jaulin, Lyudmila Mihaylova, Sandor M. Veres, Simon Rohou

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Reliable Robot Localization 1st Edition by Simon Rohou, Luc Jaulin, Lyudmila Mihaylova, Fabrice Le Bars, Sandor M Veres – Ebook PDF Instant Download/Delivery: 9781848219700 ,1848219709
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ISBN 10: 1848219709
ISBN 13: 9781848219700
Author: Simon Rohou, Luc Jaulin, Lyudmila Mihaylova, Fabrice Le Bars, Sandor M Veres

Localization for underwater robots remains a challenging issue. Typical sensors, such as Global Navigation Satellite System (GNSS) receivers, cannot be used under the surface and other inertial systems suffer from a strong integration drift. On top of that, the seabed is generally uniform and unstructured, making it difficult to apply Simultaneous Localization and Mapping (SLAM) methods to perform localization. Reliable Robot Localization presents an innovative new method which can be characterized as a raw-data SLAM approach. It differs from extant methods by considering time as a standard variable to be estimated, thus raising new opportunities for state estimation, so far underexploited. However, such temporal resolution is not straightforward and requires a set of theoretical tools in order to achieve the main purpose of localization. This book not only presents original contributions to the field of mobile robotics, it also offers new perspectives on constraint programming and set-membership approaches. It provides a reliable contractor programming framework in order to build solvers for dynamical systems. This set of tools is illustrated throughout this book with realistic robotic applications.

Reliable Robot Localization 1st Edition Table of contents:

PART 1: Interval Tools

Introduction to Part 1

1 Static Set-membership State Estimation

1.1. Introduction

1.2. Interval analysis

1.3. Constraint propagation

1.4. Set-inversion via interval analysis

1.5. Discussions

1.6. Conclusion

2 Constraints Over Sets of Trajectories

2.1. Towards dynamic state estimation

2.2. Tubes

2.3. Implementation

2.4. Application: dead-reckoning of a mobile robot

2.5. Discussions

2.6. Conclusion

PART 2: Constraints-related Contributions

Introduction to Part 2

3 Trajectories under Differential Constraints

3.1. Introduction

3.2. Differential contractor for

3.3. Contractor-based approach for state estimation

3.4. Robotic applications

3.5. Conclusion

4 Trajectories Under Evaluation Constraints

4.1. Introduction

4.2. Generic contractor for trajectory evaluation

4.3. Robotic applications

4.4. Conclusion

PART 3: Robotics-related Contributions

Introduction to Part 3

5 Looped Trajectories: From Detections to Proofs

5.1. Introduction

5.2. Proprioceptive loop detections

5.3. Proving loops in detection sets

5.4. Applications

5.5. Conclusion

6 A Reliable Temporal Approach for the SLAM Problem

6.1. Introduction

6.2. Temporal SLAM method

6.3. Underwater application: bathymetric SLAM

6.4. Discussions

6.5. Conclusion

Conclusion

C.1. General conclusions

C.2. Summary of the contributions

C.3. Overall prospects

References

Index

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