Localisation et suivi robustes d'un robot mobile grâce à l'analyse par intervalles Robust robot localization and tracking using interval analysis

and key words This paper presents a new solution to the problem of localizing and tracking a robot from distance measurements provided by on-board ultrasonic sensors. The measurement errors and state perturbations are assumed to be bounded. A parameter and state estimation technique based on interval analysis is employed to compute, as a function of time, a set guaranteed to contain all robot configurations (position and orientation) that are consistent with the measurements provided by the ultrasonic sensors, given bounds on the acceptable errors. The unavoidable presence of many outliers is taken into account to provide robust esti- mates. A realistic simulated example is treated in detail to illustrate the properties of the technique.