%0 Conference Proceedings %T Guaranteed Characterization of the Explored Space of a Mobile Robot by using Subpavings %+ Lab-STICC_ENSTAB_CID_IHSEV ; OSM %A Drevelle, Vincent %A Jaulin, Luc %A Zerr, Benoit %< avec comité de lecture %( NOLCOS 2013 %B NOLCOS 2013 %C Toulouse, France %P xx %8 2013-09-04 %D 2013 %K interval analysis %K mobile robots %K exploration %K sets %K mapping %K uncertainty %Z Engineering Sciences [physics]/AutomaticConference papers %X This paper proposes a method to characterize the space explored by a mobile robot during a mission. Because of localization uncertainty, the area osculated by a sensor at a given time is uncertain too. The problem is modeled by using intervals to represent trajectory uncertainties and a "visibility function" to describe the area in view at a given time. A set-inversion method is then applied to compute a "guaranteed visible area" and a "possible visible area" with respect to positioning uncertainty. A bracketing of the actual explored area between a "guaranteed explored area" and a "possible explored area" for the whole mission is finally obtained by respectively taking the union of the guaranteed and possible areas. Results from a simulated underwater exploration mission are presented %G English %2 https://hal.science/hal-00914063/document %2 https://hal.science/hal-00914063/file/paper_drevelle_nolcos_2013.pdf %L hal-00914063 %U https://hal.science/hal-00914063 %~ UNIV-BREST %~ INSTITUT-TELECOM %~ ENSTA-BRETAGNE %~ CNRS %~ UNIV-UBS %~ ENSTA-BRETAGNE-STIC %~ ENIB %~ LAB-STICC_ENIB %~ LAB-STICC %~ TDS-MACS %~ INSTITUTS-TELECOM