LOOP DETECTION OF MOBILE ROBOTS USING INTERVAL ANALYSIS
This paper proposes an original set-membership approach for loop detection of mobile robots. To detect loops, the new concepts of t-plane (which is a two dimensional space with time coordinates) is introduced. Interval of functions (or tubes) are then used to represent uncertain trajectories and tests are provided in order to elimate parts of the t-plane that do not correspond to any loop. Some examples are proposed in order to illustrate the principle and the efficiency of the approach.
Bibtex reference :
@Article{aubryAutom13, author = {C. Aubry and R. Desmare and L. Jaulin}, title = {{Loop detection of mobile robots using interval analysis}}, journal = {Automatica}, volume= {49}, number = {2}, pages = {463--470}, year = 2013, DOI={10.1016/j.automatica.2012.11.009}, }
REQUIREMENT
Install http://download.qt.io/official_releases/qtcreator/3.0/3.0.1/ $sudo apt-get install qt4-qmake qt-sdk
Open .pro file with qtCreator and run!