On The Problem of Simultaneous Localization, Map Building, and Servoing of Autonomous Vehicles

Abstract

In this chapter, we consider three of the main problems that arise in the navigation of autonomous vehicles in partially or totally unknown environments, i.e. building a map of the environment, self-localizing, and servoing the robot so as to achieve given goals based on sensorial information. As compared to most part of the existing literature on SLAM, we privilege here a system-theoretic view of the problem, which allows the localization and mapping problems to be cast in a unified framework with the control problem. The chapter is an overview of existing results in this vein, and of some interesting directions for research in the field.