1. General

1.1 Current navigation strategies in robotics

Autonomous navigation is now a major issue in the development of autonomous vehicles and robots. Every year, there are more than 5,000 container ships in service, over a billion cars on the road, and an estimated 5,000 aircraft in the air at any given time. To ensure the reliability of these means of transport, there is an urgent need to develop new, robust and repeatable navigation systems. The applications of these autonomous navigation systems are numerous: exploration of environments that have suffered natural or technological disasters, and of urban infrastructures, but also on the occasion of extraterrestrial exploration, where we can cite the Curiosity rover (NASA) and soon the ExoMars rover (ESA); transport of goods and people over...