Imprecision and Uncertainty Quantification for the Problem of Mobile Robot Localization

This paper describes the use of a set inversion algorithm to solve the problem of mobile robot localization. The method is based on the formalism of interval analysis. In this formalism, an imprecise number is represented by an interval which contains it in a guaranteed way. This enables to naturally manage the imprecision linked to the mobile robot configuration. Indeed, we show that imprecision is not correlated to uncertainty, that’s why we have quantify imprecision independently from uncertainty. So, from a matching between the sensorial map and the theoretical map, our method gives the robot configuration bracketed between two 3-D subpavings.