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Introduction to the Algebra of Separators with Application to Path Planning

Luc Jaulin 1 Benoît Desrochers 2
1 Lab-STICC_ENSTAB_CID_IHSEV ; OSM
STIC - Pôle STIC [Brest], Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
Abstract : Contractor algebra is a numerical tool based on interval analysis which makes it possible to solve many nonlinear problems arising in robotics, such as identification, path planning or robust control. This paper presents the new notion of separators which is a pair of complementary contractors and presents the corresponding algebra. Using the separator algebra inside a paver will allow us to get an inner and an outer approximation of the solution set in a much simpler way than using any other interval approach. A path planning problem will then be considered in order to illustrate the principle of the approach.
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https://hal.archives-ouvertes.fr/hal-01006867
Contributeur : Annick Billon-Coat <>
Soumis le : lundi 16 juin 2014 - 15:58:38
Dernière modification le : mercredi 5 août 2020 - 03:41:50

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  • HAL Id : hal-01006867, version 1

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Luc Jaulin, Benoît Desrochers. Introduction to the Algebra of Separators with Application to Path Planning. Engineering Applications of Artificial Intelligence, Elsevier, 2014, 33, pp.141-147. ⟨hal-01006867⟩

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