Range-Only SLAM With Occupancy Maps: A Set-Membership Approach

Abstract

This paper proposes a new set-membership approach to solve range-only simultaneous localization and mapping (SLAM) problems in the case where the map is described by an arbitrary occupancy set (i.e., we do not assume that the map is composed of segments, punctual marks, etc.). The principle is to transform the SLAM problem into a hybrid constraint satisfaction problem (CSP), where the variables can either be real numbers, vectors, trajectories, or subsets of \BBR <i xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">n</i> . An extension of existing constraint propagation methods is then proposed to solve hybrid CSPs involving set-valued variables. A simulated test case is then proposed to show the feasibility of the approach.