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Conference Papers Year : 2013

Guaranteed Characterization of the Explored Space of a Mobile Robot by using Subpavings

Luc Jaulin
Benoit Zerr
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Abstract

This paper proposes a method to characterize the space explored by a mobile robot during a mission. Because of localization uncertainty, the area osculated by a sensor at a given time is uncertain too. The problem is modeled by using intervals to represent trajectory uncertainties and a "visibility function" to describe the area in view at a given time. A set-inversion method is then applied to compute a "guaranteed visible area" and a "possible visible area" with respect to positioning uncertainty. A bracketing of the actual explored area between a "guaranteed explored area" and a "possible explored area" for the whole mission is finally obtained by respectively taking the union of the guaranteed and possible areas. Results from a simulated underwater exploration mission are presented

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Dates and versions

hal-00914063 , version 1 (04-12-2013)

Identifiers

  • HAL Id : hal-00914063 , version 1

Cite

Vincent Drevelle, Luc Jaulin, Benoit Zerr. Guaranteed Characterization of the Explored Space of a Mobile Robot by using Subpavings. NOLCOS 2013, Sep 2013, Toulouse, France. ⟨hal-00914063⟩
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