%0 Journal Article %T Computing a Guaranteed Approximation of the Zone Explored by a Robot %+ Délégation générale de l'armement (DGA) %+ Pôle STIC_OSM %+ Lab-STICC_ENSTAB_CID_PRASYS %A Desrochers, Benoît %A Jaulin, Luc %< avec comité de lecture %@ 0018-9286 %J IEEE Transactions on Automatic Control %I Institute of Electrical and Electronics Engineers %V 62 %N 1 %P 425 - 430 %8 2017-01 %D 2017 %R 10.1109/TAC.2016.2530719 %K Probabilistic logic %K Robot sensing systems %K Service robots %K Trajectory %K Uncertainty %Z Engineering Sciences [physics]/AutomaticJournal articles %X This paper deals with the guaranteed characterization of the part of the space that has been explored by a robot.The main difficulty of the problem is to take into account the uncertainty associated with the trajectory and the fact that thedimension of the visible space at time t may be smaller than that of the workspace. An example involving an experiment made with an actual underwater robot is presented in order to illustrate the efficiency of the approach. %G English %2 https://hal.science/hal-01298366/document %2 https://hal.science/hal-01298366/file/paper_sweep.pdf %L hal-01298366 %U https://hal.science/hal-01298366 %~ UNIV-BREST %~ INSTITUT-TELECOM %~ ENSTA-BRETAGNE %~ CNRS %~ UNIV-UBS %~ ENSTA-BRETAGNE-STIC %~ ENIB %~ LAB-STICC %~ TDS-MACS %~ INSTITUTS-TELECOM