2017
DOI: 10.1016/j.ifacol.2017.08.1598
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Robust Range-Only Mapping via Sum-of-Squares Polynomials

Abstract: This work presents a new approach for mapping static beacons given only range measurements. An original formulation using sum-of-squares and linear matrix inequalities is derived to test if a measurement is inconsistent with a bounding box containing the beacon position. By performing this test for each range measurement, it is possible to recursively eliminate incompatible boxes and find the smallest consistent box. The box search is done with a breadth-first search algorithm that recursively prunes inconsist… Show more

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