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Books > Professional & Technical > Electronics & communications engineering > Electronics engineering > Automatic control engineering > Robotics
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Reliable Robot Localization - A Constraint- Programming Approach Over Dynamical Systems (Hardcover)
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Reliable Robot Localization - A Constraint- Programming Approach Over Dynamical Systems (Hardcover)
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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.
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