%0 Book Section %T Estimating the Trajectory of Low-Cost Autonomous Robots Using Interval Analysis: Application to the euRathlon Competition %+ Lab-STICC_ENSTAB_CID_PRASYS %+ Laboratoire Franco-Mexicain d'Informatique et d'Automatique (LAFMIA) %A Le Bars, Fabrice %A Antonio, Elba %A Cervantes, Jorge %A de La Cruz, Carlos %A Jaulin, Luc %@ 978-3-319-70723-5 %B Marine Robotics and Applications %E Luc Jaulin %I Springer %C Berlin %P 51-68 %8 2018-01 %D 2018 %R 10.1007/978-3-319-70724-2_4 %Z Engineering Sciences [physics] %Z Engineering Sciences [physics]/AutomaticBook sections %X 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). %G English %L hal-01707383 %U https://ensta-bretagne.hal.science/hal-01707383 %~ UNIV-BREST %~ INSTITUT-TELECOM %~ ENSTA-BRETAGNE %~ UGA %~ CNRS %~ UNIV-COMPIEGNE %~ UNIV-UBS %~ INPG %~ ENSTA-BRETAGNE-STIC %~ ENIB %~ LAB-STICC %~ TDS-MACS %~ INSTITUTS-TELECOM %~ UGA-COMUE %~ ALLIANCE-SU