Ph.D
Group : Parallel Systems
Guaranteed localization and mapping for autonomous vehicles
Starts on 01/09/2015
Advisor : LAMBERT, Alain
Funding : Bourse pour étudiant étranger
Affiliation : Université Paris-Saclay
Laboratory : LRI
Defended on 19/10/2018, committee :
Luc Jaulin Professeur, University Bretagne Occidentale
David Bétaille Director of Research, IFSTTAR
Yue Ma Maître de Conférences, Université Paris-Sud
Tarek Hamel Professeur, Université Nice Sophia Antipolis
David Filliat Professeur, ENSTA ParisTech
Alain Lambert MCF, Université Paris-Sud
Xun Zhang Associate Professor, ISEP
Research activities :
Abstract :
This thesis focus on study the interval analysis based methods applied to solve the robotic localization and mapping problem. Instead of making hypothesis on the probability distribution, all the sensor noises are assumed to be bounded within
known limits. Based on such foundation, this thesis formulates the localization and mapping problem in the framework of Interval Constraint Satisfaction Problem and applied consistent interval techniques to solve them in a guaranteed way.