A minimal contractor for the polar equation: Application to robot localization

Contractor programming relies on a catalog on elementary contractors which need to be as efficient as possible. In this paper, we introduce a new theorem that can be used to build minimal contractors consistent with equations, and another new theorem to derive an optimal separator from a minimal con...

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Vydané v:Engineering applications of artificial intelligence Ročník 55; s. 83 - 92
Hlavní autori: Desrochers, B., Jaulin, L.
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: Elsevier Ltd 01.10.2016
Predmet:
Constraint programming
Interval analysis
Localization
Robotics
Set theory
Interval analysis
Set theory
Localization
Constraint programming
Robotics
ISSN:0952-1976, 1873-6769
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Shrnutí:Contractor programming relies on a catalog on elementary contractors which need to be as efficient as possible. In this paper, we introduce a new theorem that can be used to build minimal contractors consistent with equations, and another new theorem to derive an optimal separator from a minimal contractor. As an application, we focus on the channeling polar constraint associated to the change between Cartesian coordinates and Polar coordinates. We illustrate our method on the localization problem of an actual underwater robot where both range and goniometric measurements of landmarks are collected.
ISSN:0952-1976
1873-6769
DOI:10.1016/j.engappai.2016.06.005