• slam
• cslam
• cmapping
• robotics cooperation
• localization
• robotics perception
• space robotics

This thesis work was done in the context of MP1 of CoRob-X project, mentioned above, carried out during a 6 months internship in the Robotic Software Team at the Space Applications Services NV/SA. In particular, the first phase of the mission focuses on building a map of the environment around the access of a lava tube. This kind of access is usually a collapse in the tube's roof. So it can be considered a vertical tunnel to the cave. Then precision in operations is crucial to carry out all mission phases. To do so, it is necessary to have the best possible estimation of both REU poses and maps. In this work, C-SLAM solutions applied to the MP1 scenario have been investigated, implemented and tested. In particular, a novel approach in the modeling of constraints inside a graph optimization will be investigated.