TY - GEN
T1 - Joint weakly regularly persistent nonlinear observability for landmark-based SLAM with nonlinear relative measurements
AU - Flayac, Emilien
AU - Shames, Iman
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - In this paper, we give sufficient conditions on the input for weak regular observability in the general case of landmark-based Simultaneous Localisation and Mapping (SLAM) both with a world-centric and a sensor-centric point of view. We show notably that in the sensor-centric point of view, the dynamics of the robot is not important for this notion of observability and only its state and input trajectories matter. Besides, we prove that tracking circular trajectories imply weak regular observability jointly for 2D systems with several types of commonly used measurements in SLAM.
AB - In this paper, we give sufficient conditions on the input for weak regular observability in the general case of landmark-based Simultaneous Localisation and Mapping (SLAM) both with a world-centric and a sensor-centric point of view. We show notably that in the sensor-centric point of view, the dynamics of the robot is not important for this notion of observability and only its state and input trajectories matter. Besides, we prove that tracking circular trajectories imply weak regular observability jointly for 2D systems with several types of commonly used measurements in SLAM.
UR - http://www.scopus.com/inward/record.url?scp=86000549904&partnerID=8YFLogxK
U2 - 10.1109/CDC56724.2024.10886619
DO - 10.1109/CDC56724.2024.10886619
M3 - Conference contribution
AN - SCOPUS:86000549904
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 2898
EP - 2903
BT - 2024 IEEE 63rd Conference on Decision and Control, CDC 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 63rd IEEE Conference on Decision and Control, CDC 2024
Y2 - 16 December 2024 through 19 December 2024
ER -