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Chapitre D'ouvrage Année : 2018

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

Résumé

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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Dates et versions

hal-01707383 , version 1 (12-02-2018)

Identifiants

Citer

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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