@article{rohou:hal-01904112, TITLE = {{Proving the existence of loops in robot trajectories}}, AUTHOR = {Rohou, Simon and Franek, Peter and Aubry, Cl{\'e}ment and Jaulin, Luc}, URL = {https://hal.science/hal-01904112}, JOURNAL = {{The International Journal of Robotics Research}}, PUBLISHER = {{SAGE Publications}}, VOLUME = {37}, NUMBER = {12}, PAGES = {1500-1516}, YEAR = {2018}, MONTH = Oct, DOI = {10.1177/0278364918808367}, KEYWORDS = {mobile robotics ; SLAM ; loop detection ; interval analysis ; topological degree ; tubes}, PDF = {https://hal.science/hal-01904112/file/loopproof_paper.pdf}, HAL_ID = {hal-01904112}, HAL_VERSION = {v1}, }