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Theses

Perception de la géométrie de l'environment pour la navigation autonome

Abstract : The goal of the mobile robotic research is to give robots the capability to accomplish missions in an environment that might be unknown. To accomplish his mission, the robot need to execute a given set of elementary actions (movement, manipulation of objects...) which require an accurate localisation of the robot, as well as a the construction of good geometric model of the environment. Thus, a robot will need to take the most out of his own sensors, of external sensors, of information coming from an other robot and of existing model coming from a Geographic Information System. The common information is the geometry of the environment. The first part of the presentation will be about the different methods to extract geometric information. The second part will be about the creation of the geometric model using a graph structure, along with a method to retrieve information in the graph to allow the robot to localise itself in the environment.
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https://tel.archives-ouvertes.fr/tel-00462518
Contributor : Arlette Evrard <>
Submitted on : Wednesday, March 10, 2010 - 9:16:56 AM
Last modification on : Friday, January 10, 2020 - 9:08:09 PM
Long-term archiving on: : Thursday, October 18, 2012 - 4:50:44 PM

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  • HAL Id : tel-00462518, version 1

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Cyrille Berger. Perception de la géométrie de l'environment pour la navigation autonome. Automatic. Université Paul Sabatier - Toulouse III, 2009. English. ⟨tel-00462518⟩

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