Abstract: A method for measuring, using a radar or sonar, the velocity with respect to the ground of a carrier moving parallel to the ground, includes the following steps: a) orienting the line of sight of the radar or sonar toward the ground; b) emitting a plurality of radar or sonar signals (P1-PN) that are directed toward the ground, and acquiring respective echo signals (E1-EN); c) processing the acquired echo signals so as to obtain, for one or more echo delay values, a corresponding Doppler spectrum; d) for the or at least one the echo delay value, determining a high cut-off frequency of the corresponding Doppler spectrum; and e) computing the velocity of the carrier with respect to the ground on the basis of the one or more high cut-off frequencies. A system allowing such a method to be implemented.

Abstract: A method of performing simultaneous localization of a mobile body and mapping of its environment, includes the steps of: a) defining an occupancy grid (G) on a region of the environment and a pose grid (?) comprising for the mobile body; b) receiving a first time series of distance measurements (z1, z2) and, upon reception of a distance measurement: either b1) updating occupancy probabilities of the occupancy grid; or b2) updating pose probabilities of the pose grid; and c) receiving a second time series of odometry measurements (u1, u2), each of the measurements being representative of a motion of the mobile body in the environment and, upon reception of an odometry measurement, updating the pose probabilities of the pose grid. An apparatus for carrying out such a method is also provided.

Abstract: A method for measuring, using a radar or sonar, the velocity with respect to the ground of a carrier moving parallel to the ground, includes the following steps: a) orienting the line of sight of the radar or sonar toward the ground; b) emitting a plurality of radar or sonar signals (P1-PN) that are directed toward the ground, and acquiring respective echo signals (E1-EN); c) processing the acquired echo signals so as to obtain, for one or more echo delay values, a corresponding Doppler spectrum; d) for the or at least one the echo delay value, determining a high cut-off frequency of the corresponding Doppler spectrum; and e) computing the velocity of the carrier with respect to the ground on the basis of the one or more high cut-off frequencies. A system allowing such a method to be implemented.

Abstract: The present invention relates to a method of managing switching from a first mode of operation to a second mode of operation a first processor in a processing device which comprises at least one other processor and a controller processor. The method comprises receiving a message which comprises a request to switch the first processor from a first to a second mode of operation; deciding whether the switching is appropriate; and upon decision of switching, switching the first processor from a first mode of operation to a second mode of operation according to the selected type of switching.

Abstract: The present invention relates to a method of managing switching from a first mode of operation to a second mode of operation a first processor in a processing device which comprises at least one other processor and a controller processor. The method comprises receiving a message which comprises a request to switch the first processor from a first to a second mode of operation; deciding whether the switching is appropriate; and upon decision of switching, switching the first processor from a first mode of operation to a second mode of operation according to the selected type of switching.