Computing a Guaranteed Approximation of the Zone Explored by a Robot
Benoît Desrochers, Luc Jaulin · IEEE Transactions on Automatic Control · 2016
This technical note deals with the guaranteed characterization of the part of the space that has been explored by a robot. The main difficulty of the problem is to take into account the uncertainty associated with the trajectory and the fact that the dimension of the visible space at time t may be smaller than that of the workspace. An example involving an experiment made with an actual underwater robot is presented in order to illustrate the efficiency of the approach.