Luc Jaulin

Fabrice Le Bars

Lyudmila Mihaylova

Simon Rohou

Sandor M. Veres

Localization for underwater robots remains a challenging issue. Typical sensors, such as Global Navigation Satellite System (GNSS) receivers, cannot be used under the surface and other inertial systems suffer from a strong integration drift. On top of that, the seabed is generally uniform and unstructured, making it difficult to apply Simultaneous Localization and Mapping (SLAM) methods to perform localization. Reliable Robot Localization presents an innovative new method which can be characterized as a raw-data SLAM approach. It differs from extant methods by considering time as a standard variable to be estimated, thus raising new opportunities for state estimation, so far underexploited. However, such temporal resolution is not straightforward and requires a set of theoretical tools in order to achieve the main purpose of localization. This book not only presents original contributions to the field of mobile robotics, it also offers new perspectives on constraint programming and set-membership approaches. It provides a reliable contractor programming framework in order to build solvers for dynamical systems. This set of tools is illustrated throughout this book with realistic robotic applications.

A Constraint-Programming Approach Over Dynamical Systems

Reliable Robot Localization

Lakhmi C Jain

Petia Georgieva

The book presents some of the most efficient statistical and deterministic methods for information processing and applications in order to extract targeted information and find hidden patterns. The techniques presented range from Bayesian approaches and their variations such as sequential Monte Carlo methods, Markov Chain Monte Carlo filters, Rao Blackwellization, to the biologically inspired paradigm of Neural Networks and decomposition techniques such as Empirical Mode Decomposition, Independent Component Analysis and Singular Spectrum Analysis. The book is directed to the research students, professors, researchers and practitioners interested in exploring the advanced techniques in intelligent signal processing and data mining paradigms.

Theory and Applications

Advances in Intelligent Signal Processing and Data Mining

Lyudmila Mihaylova

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