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MINECO PID2020-114244RB-I00"]}]},{"name":"Spanish State Research Agency (AEI)","award":["ref. 001-P-001643 Looming Factory"],"award-info":[{"award-number":["ref. 001-P-001643 Looming Factory"]}]},{"name":"Spanish State Research Agency (AEI)","award":["SAC group ref. 2017\/SGR\/482"],"award-info":[{"award-number":["SAC group ref. 2017\/SGR\/482"]}]},{"name":"Spanish State Research Agency (AEI)","award":["Ref. 2019 DI 040"],"award-info":[{"award-number":["Ref. 2019 DI 040"]}]},{"name":"European Regional Development Fund of the European Union","award":["ref. MINECO PID2020-114244RB-I00"],"award-info":[{"award-number":["ref. MINECO PID2020-114244RB-I00"]}]},{"name":"European Regional Development Fund of the European Union","award":["ref. 001-P-001643 Looming Factory"],"award-info":[{"award-number":["ref. 001-P-001643 Looming Factory"]}]},{"name":"European Regional Development Fund of the European Union","award":["SAC group ref. 2017\/SGR\/482"],"award-info":[{"award-number":["SAC group ref. 2017\/SGR\/482"]}]},{"name":"European Regional Development Fund of the European Union","award":["Ref. 2019 DI 040"],"award-info":[{"award-number":["Ref. 2019 DI 040"]}]},{"name":"DGR of Generalitat de Catalunya","award":["ref. MINECO PID2020-114244RB-I00"],"award-info":[{"award-number":["ref. 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MINECO PID2020-114244RB-I00"]}]},{"name":"Industrial PhD AGAUR","award":["ref. 001-P-001643 Looming Factory"],"award-info":[{"award-number":["ref. 001-P-001643 Looming Factory"]}]},{"name":"Industrial PhD AGAUR","award":["SAC group ref. 2017\/SGR\/482"],"award-info":[{"award-number":["SAC group ref. 2017\/SGR\/482"]}]},{"name":"Industrial PhD AGAUR","award":["Ref. 2019 DI 040"],"award-info":[{"award-number":["Ref. 2019 DI 040"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This article presents an approach to address the problem of localisation within the autonomous driving framework. In particular, this work takes advantage of the properties of polytopic Linear Parameter Varying (LPV) systems and set-based methodologies applied to Kalman filters to precisely locate both a set of landmarks and the vehicle itself. Using these techniques, we present an alternative approach to localisation algorithms that relies on the use of zonotopes to provide a guaranteed estimation of the states of the vehicle and its surroundings, which does not depend on any assumption of the noise nature other than its limits. LPV theory is used to model the dynamics of the vehicle and implement both an LPV-model predictive controller and a Zonotopic Kalman filter that allow localisation and navigation of the robot. The control and estimation scheme is validated in simulation using the Robotic Operating System (ROS) framework, where its effectiveness is demonstrated.<\/jats:p>","DOI":"10.3390\/s22103672","type":"journal-article","created":{"date-parts":[[2022,5,12]],"date-time":"2022-05-12T23:08:36Z","timestamp":1652396916000},"page":"3672","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["Zonotopic Linear Parameter Varying SLAM Applied to Autonomous Vehicles"],"prefix":"10.3390","volume":"22","author":[{"given":"Marc","family":"Facerias","sequence":"first","affiliation":[{"name":"Autonomous Systems, Department of Electrical and Electronic Engineering, University of Manchester, Sackville Street Building, Manchester M1 3BB, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6364-6429","authenticated-orcid":false,"given":"Vicen\u00e7","family":"Puig","sequence":"additional","affiliation":[{"name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial (CSIC-UPC), Llorens i Artigas 4\u20136, 08028 Barcelona, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Eugenio","family":"Alcala","sequence":"additional","affiliation":[{"name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial (CSIC-UPC), Llorens i Artigas 4\u20136, 08028 Barcelona, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,5,11]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"104270","DOI":"10.1016\/j.conengprac.2019.104270","article-title":"Autonomous racing using linear parameter varying-model predictive control (lpv-mpc)","volume":"95","author":"Puig","year":"2020","journal-title":"Control Eng. 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