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Habilitation à diriger des recherches

Navigation autonome en environnements extérieurs

Abstract : Autonomous robot navigation requires the integration of the three families of processes of perception, decision and action, integration which characterises intelligent machines. The environment representations that the robot must build with its own means are at the heart of this integration: they are produced by the perception processes, but are used by the decision and action processes. In the context of outdoor environments, structured or not, the autonomous building of such representations is still a challenging research issue, that calls for the integration on board the robots of signal processing, geometric modelling and stochastic estimations processes. The localisation problem is here a key problem, because it is intrinsically linked to the mapping processes. The talk will present various achievements in this domain, supported by actual demonstrations integrated on board of ground rovers and a blimp.
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Habilitation à diriger des recherches
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Contributor : Emilie Marchand <>
Submitted on : Wednesday, October 25, 2006 - 2:28:22 PM
Last modification on : Thursday, November 19, 2020 - 4:36:06 PM
Long-term archiving on: : Tuesday, April 6, 2010 - 6:40:59 PM


  • HAL Id : tel-00109720, version 1


Simon Lacroix. Navigation autonome en environnements extérieurs. Automatique / Robotique. Institut National Polytechnique de Toulouse - INPT, 2006. ⟨tel-00109720⟩



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