--- res: bibo_abstract: - In this paper we present a reliable method to verify the existence of loops along the uncertain trajectory of a robot, based on proprioceptive measurements only, within a bounded-error context. The loop closure detection is one of the key points in simultaneous localization and mapping (SLAM) methods, especially in homogeneous environments with difficult scenes recognitions. The proposed approach is generic and could be coupled with conventional SLAM algorithms to reliably reduce their computing burden, thus improving the localization and mapping processes in the most challenging environments such as unexplored underwater extents. To prove that a robot performed a loop whatever the uncertainties in its evolution, we employ the notion of topological degree that originates in the field of differential topology. We show that a verification tool based on the topological degree is an optimal method for proving robot loops. This is demonstrated both on datasets from real missions involving autonomous underwater vehicles and by a mathematical discussion.@eng bibo_authorlist: - foaf_Person: foaf_givenName: Simon foaf_name: Rohou, Simon foaf_surname: Rohou - foaf_Person: foaf_givenName: Peter foaf_name: Franek, Peter foaf_surname: Franek foaf_workInfoHomepage: http://www.librecat.org/personId=473294AE-F248-11E8-B48F-1D18A9856A87 orcid: 0000-0001-8878-8397 - foaf_Person: foaf_givenName: Clément foaf_name: Aubry, Clément foaf_surname: Aubry - foaf_Person: foaf_givenName: Luc foaf_name: Jaulin, Luc foaf_surname: Jaulin bibo_doi: 10.1177/0278364918808367 bibo_issue: '12' bibo_volume: 37 dct_date: 2018^xs_gYear dct_identifier: - UT:000456881100004 dct_isPartOf: - http://id.crossref.org/issn/0278-3649 - http://id.crossref.org/issn/1741-3176 dct_language: eng dct_publisher: SAGE Publications@ dct_title: Proving the existence of loops in robot trajectories@ ...