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Chapitre d'ouvrage

Estimating the Trajectory of Low-Cost Autonomous Robots Using Interval Analysis: Application to the euRathlon Competition

Fabrice Le Bars 1 Elba Antonio 2 Jorge Cervantes 2 Carlos de la Cruz 2 Luc Jaulin 1
1 Lab-STICC_ENSTAB_CID_PRASYS
Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
Abstract : In this paper, we describe a method based on interval arithmetic and contractors to compute an envelope containing the trajectory of a robot from usual proprioceptive and exteroceptive data, using a simple state equation model. To illustrate the applicability of the method, data from the euRathlon 2015, a multi-domain robotics competition, will be processed to build an estimation of the trajectory of a low-cost AUV (Autonomous Underwater Vehicle), navigating with the help of acoustic communication and ranging with an ASV (Autonomous Surface Vehicle).
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https://hal-ensta-bretagne.archives-ouvertes.fr/hal-01707383
Contributeur : Marie Briec <>
Soumis le : lundi 12 février 2018 - 17:29:46
Dernière modification le : mercredi 5 août 2020 - 03:47:52

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Fabrice Le Bars, Elba Antonio, Jorge Cervantes, Carlos de la Cruz, Luc Jaulin. Estimating the Trajectory of Low-Cost Autonomous Robots Using Interval Analysis: Application to the euRathlon Competition. Luc Jaulin. Marine Robotics and Applications, Springer, pp.51-68, 2018, 978-3-319-70723-5. ⟨10.1007/978-3-319-70724-2_4⟩. ⟨hal-01707383⟩

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