Search

Your search keyword '"Luc Jaulin"' showing total 105 results
Start Over Author "Luc Jaulin" Publisher hal ccsd
105 results on '"Luc Jaulin"'

1. Ellipsoidal Enclosure Techniques for a Verified Simulation of Initial Value Problems for Ordinary Differential Equations

Author

Andreas Rauh, Auguste Bourgois, Luc Jaulin, Julia Kersten, Equipe ROBotics for EXploration (Lab-STICC_ROBEX), Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), Universität Rostock, Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)

Subjects
[MATH.MATH-DS]Mathematics [math]/Dynamical Systems [math.DS], MathematicsofComputing_NUMERICALANALYSIS, 02 engineering and technology, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, 020202 computer hardware & architecture, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Verified simulation of initial value problems, ComputingMethodologies_SYMBOLICANDALGEBRAICMANIPULATION, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], Interval analysis, Uncertain systems, Robustness analysis, Ellipsoidal enclosure techniques
Abstract

International audience; The verified simulation of initial value problems (IVPs) for ordinary differential equations (ODEs) with uncertain parameters is an up-to-date research topic and a basic building block for predictor-corrector type state estimators. Such state estimators are based on a two-stage procedure: First, the continuous-time state equations are evaluated up to the discrete time instant at which new measured data become available. Second, the forecasted state enclosures need to be refined by accounting for the information provided by the available sensors. In this paper, we focus on the first stage by presenting a novel ellipsoidal enclosure technique for continuous-time processes. It is based on thick ellipsoids and temporal Taylor series for a verified integration of ODEs that in combination allow for determining inner and outer bounds for the domains of reachable states. Comparisons with other set-valued integration techniques conclude this paper.

Published
2021
Full Text
View/download PDF

2. Thick Fuzzy Sets (TFSs) and Their Potential Use in Uncertain Fuzzy Computations and Modeling

Author

Didier Coquin, Benoit Desrochers, Luc Jaulin, Reda Boukezzoula, Laboratoire d'Informatique, Systèmes, Traitement de l'Information et de la Connaissance (LISTIC), Université Savoie Mont Blanc (USMB [Université de Savoie] [Université de Chambéry]), Equipe ROBotics for EXploration (Lab-STICC_ROBEX), Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT), and École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)

Subjects
0209 industrial biotechnology, Type-2 fuzzy sets (T2FSs), Thick sets (TSs), Computer science, Computation, Fuzzy set, 02 engineering and technology, Interval (mathematics), Fuzzy logic, Upper and lower bounds, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [SPI]Engineering Sciences [physics], 020901 industrial engineering & automation, Dimension (vector space), Artificial Intelligence, 0202 electrical engineering, electronic engineering, information engineering, computer.programming_language, Applied Mathematics, Underwater robot, Cascading Style Sheets, Crisp sets (CSs), Thick fuzzy sets (TFSs), Type-1 fuzzy sets (T1FSs), Computational Theory and Mathematics, Control and Systems Engineering, Robot, 020201 artificial intelligence & image processing, computer, Algorithm
Abstract

International audience; This paper aims at proposing the concept of thick fuzzy sets (TFSs). A TFS is based on the joint use of thick sets (TSs) and -cuts concepts. A TFS is represented by a family of nested TSs. A TS is an uncertain set, which is represented by a pair of crisp sets (CSs). These CSs characterize the upper and lower bounds of the TS. Therefore, a TS can be regarded as an interval of CSs. In this framework, as a type-1 fuzzy set (T1FS) is regarded as a family of nested CSs, a TFS can be represented by a family of nested TSs. Furthermore, according to the vertical dimension, a TFS can be regarded as an interval with T1FS bounds. The potentialities of the TFS concept have been validated using application examples where a real-world application for modeling the zone explored by an underwater robot is given.

Published
2021
Full Text
View/download PDF

3. Exact bounded-error continuous-time linear state estimator

Author

Simon Rohou, Luc Jaulin, Equipe ROBotics for EXploration (Lab-STICC_ROBEX), Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), and ANR-16-CE33-0024,CONTREDO,Intervalles et contracteurs pour les systèmes dynamiques(2016)

Subjects
0209 industrial biotechnology, General Computer Science, Dynamical systems theory, Mechanical Engineering, 020208 electrical & electronic engineering, 02 engineering and technology, State (functional analysis), Interval (mathematics), Dynamical system, Interval arithmetic, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Control and Systems Engineering, Bounded function, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Dynamical systems, 0202 electrical engineering, electronic engineering, information engineering, Trajectory, Applied mathematics, Uncertainty analysis, Electrical and Electronic Engineering, Mathematics
Abstract

International audience; This paper proposes an interval-based method for estimating the state of a linear continuous-time dynamical system. In this work, we assume that the measurements are provided at discrete times and that all errors are bounded. Interval analysis is used to propagate the interval uncertainties continuously over time. The resulting method is guaranteed to never lose any feasible solution and provides an optimal polygonal enclosure of the state trajectory. A reproducible example illustrates the principle of the method.

Published
2021
Full Text
View/download PDF

4. A new methodology for solving fuzzy systems of equations: Thick fuzzy sets based approach

Author

Luc Jaulin, Didier Coquin, Reda Boukezzoula, Laboratoire d'Informatique, Systèmes, Traitement de l'Information et de la Connaissance (LISTIC), Université Savoie Mont Blanc (USMB [Université de Savoie] [Université de Chambéry]), Equipe ROBotics for EXploration (Lab-STICC_ROBEX), Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT), and École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)

Subjects
0209 industrial biotechnology, Logic, Fuzzy set, 02 engineering and technology, Fuzzy control system, Interval (mathematics), Cartesian product, Upper and lower bounds, Fuzzy logic, Set (abstract data type), symbols.namesake, [SPI]Engineering Sciences [physics], 020901 industrial engineering & automation, Artificial Intelligence, 0202 electrical engineering, electronic engineering, information engineering, symbols, 020201 artificial intelligence & image processing, [MATH]Mathematics [math], Projection (set theory), Algorithm, ComputingMilieux_MISCELLANEOUS, Mathematics
Abstract

This paper presents a new method for solving fuzzy systems of equations (SoEs) where their parameters are represented by fuzzy intervals (FIs). A FI is a normal and convex fuzzy set (FS), where all its α-cuts are crisp intervals (CIs), i.e., conventional intervals. Due to the presence of uncertainty in the left-hand and right-hand sides of these fuzzy SoEs, the solutions are sought neither as FSs, nor as FIs or fuzzy boxes (FBs)—i.e., a Cartesian product of n FIs, but as uncertain FS. In this framework, an uncertain FS is regarded as a thick fuzzy set (TFS). A TFS is a new concept that is based on the joint use of thick sets (TSs) and the α-cuts principle. Therefore, a TS is an uncertain set and is represented by a pair of crisp sets (CSs), which describe its upper and lower bounds, i.e., a TS is an interval of CSs. Moreover, as a FS can be characterized by a family of nested CSs, a TFS can be represented by a family of nested TSs. Furthermore, a TFS can be regarded as an interval with FS boundaries. Nevertheless, in absence of uncertainty in the left-hand side of the fuzzy SoEs, the TFS solution becomes a FS solution. The proposed method is based on a set membership methodology according to paving and set projection techniques. The originality of the proposed approach resides in the fact that it applies whatever the form of the fuzzy system of equations (linear or nonlinear) and allows overcoming the approximation assumption of FS solutions by FIs (or FBs), often supposed in solving fuzzy SoEs. The proposed method has been validated using application examples that are issued from the literature.

Published
2021
Full Text
View/download PDF

5. Interval Inspired Approach Based on Temporal Sequence Constraints to Place Recognition

Author

Edson Prestes, Mariana Kolberg, Fernanda Rodrigues, Diego Pittol, Luc Jaulin, Renan Maffei, Renata Neuland, Universidade Federal do Rio Grande do Sul [Porto Alegre] (UFRGS), Equipe ROBotics for EXploration (Lab-STICC_ROBEX), Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), This study was financed in part by the Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - Brasil (CAPES) - Finance Code 001 and CNPq., Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)

Subjects
0209 industrial biotechnology, Computer science, 02 engineering and technology, Interval (mathematics), Simultaneous localization and mapping, Machine learning, computer.software_genre, Industrial and Manufacturing Engineering, Interval arithmetic, Set (abstract data type), 020901 industrial engineering & automation, Artificial Intelligence, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Electrical and Electronic Engineering, Sequence, business.industry, Mechanical Engineering, Process (computing), Robotics, Agricultural robots, Control and Systems Engineering, Robot, Artificial intelligence, business, computer, Software
Abstract

International audience; Place recognition is an essential task in many robotics applications. Recognizing if the robot is crossing an already visited place may be used to improve its localization and map estimation. A place recognition strategy must be as accurate as possible, despite the challenges related to environment dynamicity. It should avoid generating false positives since even a few erroneous matches may be enough to cause the degradation of the Simultaneous Localization and Mapping (SLAM) process. We propose a novel approach for place recognition inspired by interval analysis theory. Our approach models the known world as a set of intervals based on the robot’s observations. The search to determine whether the current robot location is new or known begins as the robot explores its surroundings. Our approach has three main steps. First, it selects a set of nearest neighbors based on the similarity between the current robot observation and the intervals composing the known world. In the second step, our approach uses temporal constraints to select one element of the set. And finally, the third step is to sweep the selected interval looking for the query best match. We evaluate our proposal by dealing with visual place recognition using only image information and demonstrate its effectiveness using some challenging public datasets.

Published
2021
Full Text
View/download PDF

6. Robust Hybrid Interval-Probabilistic Approach for the Kidnapped Robot Problem

Author

Mathias Mantelli, Renata Neuland, Edson Prestes, Mariana Kolberg, Bernardo Hummes, Luc Jaulin, Renan Maffei, Universidade Federal do Rio Grande do Sul [Porto Alegre] (UFRGS), Equipe ROBotics for EXploration (Lab-STICC_ROBEX), Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), and This study was financed in part by the Coordenac¸ão de Aperfeic¸oamento de Pessoal de Ńıvel Superior — Brasil (CAPES) — Finance Code 001 and CNPq.

Subjects
0209 industrial biotechnology, Computer science, business.industry, Frame (networking), Probabilistic logic, Mobile robot, 02 engineering and technology, Interval (mathematics), Kidnapped robot problem, Interval arithmetic, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Artificial Intelligence, Control and Systems Engineering, Position (vector), 0202 electrical engineering, electronic engineering, information engineering, Robot, 020201 artificial intelligence & image processing, Computer vision, Artificial intelligence, business, Software, Information Systems
Abstract

International audience; For a mobile robot to operate in its environment it is crucial to determine its position with respect to an external reference frame using noisy sensor readings. A scenario in which the robot is moved to another position during its operation without being told, known as the kidnapped robot problem, complicates global localisation. In addition to that, sensor malfunction and external influences of the environment can cause unexpected errors, called outliers, that negatively affect the localisation process. This paper proposes a method based on the fusion of a particle filter with bounded-error localisation, which is able to deal with outliers in the measurement data. The application of our algorithm to solve the kidnapped robot problem using simulated data shows an improvement over conventional probabilistic filtering methods.

Published
2021
Full Text
View/download PDF

7. A boundary approach for set inversion

Author

Luc Jaulin, Equipe ROBotics for EXploration (Lab-STICC_ROBEX), Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT), and École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)

Subjects
0209 industrial biotechnology, Artificial intelligence, Set inversion, Computer science, Continuous domains, Boundary, Mathematical analysis, Boundary (topology), 02 engineering and technology, Interval (mathematics), Constraint propagation, Inversion (discrete mathematics), Domain (mathematical analysis), Image (mathematics), [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], Set (abstract data type), 020901 industrial engineering & automation, Control and Systems Engineering, Set Inversion, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Interval analysis, 020201 artificial intelligence & image processing, Electrical and Electronic Engineering, Volume (compression)
Abstract

In the paper, we present a new interval-based set inversion algorithm which takes into account the continuity of the problem. In the case where the set Y to be inverted has some volume, we show that inverting the boundary ∂ Y of Y is sufficient to reconstruct the preimage X = f − 1 ( Y ) . The inversion of ∂ Y separates the domain of f into two regions : one inside X and one outside. To detect which part is inside or outside, we show that we can retro-propagate the information coming from Y at negligible cost. The efficiency of the approach is illustrated on a localization problem.

Published
2021
Full Text
View/download PDF

8. Non-linear control under state constraints with validated trajectories for a mobile robot towing a trailer

Author

Joris Tillet, Luc Jaulin, Fabrice Le Bars, Lab-STICC_ENSTAB_CID_PRASYS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)

Subjects
0209 industrial biotechnology, tank-trailer, Computer science, Lie derivatives, state constraints, Trailer, Mobile robot, 0102 computer and information sciences, 02 engineering and technology, Nonlinear control, 01 natural sciences, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Set (abstract data type), Nonlinear system, 020901 industrial engineering & automation, 010201 computation theory & mathematics, Control theory, mobile robots, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Robot, Interval analysis, nonlinear control, Towing
Abstract

International audience; In this paper, we propose a set-inversion approach to validate the controller of a nonlinear system that should satisfy some state constraints. We introduce the notion of follow set which corresponds to the set of all output vectors such that the desired dynamics can be followed without violating the state-constraints. This follow set can then be used to choose feasible trajectories that a mobile robot will be able to follow. An illustrative example with a robot towing a trailer is presented. This example is motivated by the safe control of a boat towing a marine magnetique sensor to find wrecks.

Published
2020
Full Text
View/download PDF

9. Towards a Generic Interval Solver for Differential-Algebraic CSP

Author

Victor Reyes, Bertrand Neveu, Luc Jaulin, Gilles Chabert, Simon Rohou, Alexandre Goldsztejn, Abderahmane Bedouhene, Gilles Trombettoni, Lab-STICC_ENSTAB_CID_PRASYS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL), Laboratoire d'Informatique Gaspard-Monge (LIGM), École des Ponts ParisTech (ENPC)-Centre National de la Recherche Scientifique (CNRS)-Université Gustave Eiffel, IRT Jules Vernes, Laboratoire des Sciences du Numérique de Nantes (LS2N), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Agents, Apprentissage, Contraintes (COCONUT), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Simonis, Helmut, and ANR-16-CE33-0024,CONTREDO,Intervalles et contracteurs pour les systèmes dynamiques(2016)

Subjects
Physics, 050101 languages & linguistics, 05 social sciences, [MATH.MATH-DS]Mathematics [math]/Dynamical Systems [math.DS], 02 engineering and technology, Interval (mathematics), Solver, Interval arithmetic, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], Tree (data structure), [SPI]Engineering Sciences [physics], 0202 electrical engineering, electronic engineering, information engineering, Constraint programming, Initial value problem, 020201 artificial intelligence & image processing, 0501 psychology and cognitive sciences, Boundary value problem, Algorithm, Differential algebraic equation, Interval Analysis, Differential Algebraic Equations
Abstract

International audience; In this paper, we propose an interval constraint programming approach that can handle the differential-algebraic CSP (DACSP), where an instance is composed of real and functional variables (also called dynamic variables or trajectories) together, and differential and/or “static” numerical constraints among those variables. Differential-Algebraic CSP systems can model numerous real-life problems occurring in physics, biology or robotics. We introduce a solver, built upon the Tubex and Ibex interval libraries, that can rigorously approximate the set of solutions of a DACSP system. The solver achieves temporal slicing and a tree search by splitting trajectories domains. Our approach provides a significant step towards a generic interval CP solver for DACSP that has the potential to handle a large variety of constraints. First experiments highlight that this solver can tackle interval Initial Value Problems (IVP), Boundary Value Problems (BVP) and integro-differential equations.

Published
2020
Full Text
View/download PDF

10. Set-membership state estimation by solving data association

Author

Benoit Desrochers, Luc Jaulin, Simon Rohou, Lab-STICC_ENSTAB_CID_PRASYS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT), DGA Techniques Navales, Direction générale de l'Armement (DGA), and ANR-16-CE33-0024,CONTREDO,Intervalles et contracteurs pour les systèmes dynamiques(2016)

Subjects
0209 industrial biotechnology, Computer science, Reliability (computer networking), [MATH.MATH-DS]Mathematics [math]/Dynamical Systems [math.DS], 02 engineering and technology, Sonar, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], Set (abstract data type), 020901 industrial engineering & automation, Position (vector), 0202 electrical engineering, electronic engineering, information engineering, Trajectory, Robot, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], 020201 artificial intelligence & image processing, Underwater, Algorithm, [MATH.MATH-NA]Mathematics [math]/Numerical Analysis [math.NA]
Abstract

International audience; This paper deals with the localization problem of a robot in an environment made of indistinguishable landmarks, and assuming the initial position of the vehicle is unknown. This scenario is typically encountered in underwater applications for which landmarks such as rocks all look alike. Furthermore, the position of the robot may be lost during a diving phase, which obliges us to consider unknown initial position. We propose a deterministic approach to solve simultaneously the problems of data association and state estimation, without combinatorial explosion. The efficiency of the method is shown on an actual experiment involving an underwater robot and sonar data.

Published
2020

11. Characterizing Sliding Surfaces of Cyber-Physical Systems

Author

Fabrice Le Bars, Luc Jaulin, Lab-STICC_ENSTAB_CID_PRASYS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)

Subjects
0209 industrial biotechnology, Information Systems and Management, Computer science, 02 engineering and technology, Management Science and Operations Research, Classification of discontinuities, Theoretical Computer Science, Interval arithmetic, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Sailboats, [SPI]Engineering Sciences [physics], 020901 industrial engineering & automation, Control theory, 0202 electrical engineering, electronic engineering, information engineering, Computer Science (miscellaneous), Interval analysis, Electrical and Electronic Engineering, business.industry, Cyber-physical system, Robotics, Sliding surface, Trajectory, Piecewise, Robot, 020201 artificial intelligence & image processing, Computer Vision and Pattern Recognition, Artificial intelligence, business, Software
Abstract

International audience; When implementing a non-continuous controller for a cyber-physical system, it may happen that the evolution function of the closed-loop system is not anymore piecewise continuous along the trajectory, mainly due to if statements inside the control algorithm. As a consequence, an unwanted chattering effect may occur. This behavior is often difficult to observe even in simulation. We propose here a set-membership method based on interval analysis to detect different types of discontinuities. One of them is the sliding surface where the state trajectory jumps indefinitely between two distinct behaviors. As an application, we consider the validation of a sailboat controller. We show that our approach is able to detect and explain some unwanted sliding effects that may be observed in rare and specific situations on our actual sailboat robots.

Published
2020
Full Text
View/download PDF

12. Using Interval Analysis to Compute the Invariant Set of a Nonlinear Closed-Loop Control System

Author

Luc Jaulin, Andreas Rauh, Swantje Romig, Lab-STICC_ENSTAB_CID_PRASYS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT), Department of Mechatronics, and University of Rostock

Subjects
0209 industrial biotechnology, Numerical Analysis, Set inversion, Sliding mode control, Computer science, 02 engineering and technology, Interval (mathematics), Invariant sets, Theoretical Computer Science, Interval arithmetic, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computational Mathematics, Nonlinear system, 020901 industrial engineering & automation, Computational Theory and Mathematics, Bounded function, Lyapunov stability, 0202 electrical engineering, electronic engineering, information engineering, Interval analysis, 020201 artificial intelligence & image processing, Invariant (mathematics), Global optimization, Algorithm
Abstract

In recent years, many applications, as well as theoretical properties of interval analysis have been investigated. Without any claim for completeness, such applications and methodologies range from enclosing the effect of round-off errors in highly accurate numerical computations over simulating guaranteed enclosures of all reachable states of a dynamic system model with bounded uncertainty in parameters and initial conditions, to the solution of global optimization tasks. By exploiting the fundamental enclosure properties of interval analysis, this paper aims at computing invariant sets of nonlinear closed-loop control systems. For that purpose, Lyapunov-like functions and interval analysis are combined in a novel manner. To demonstrate the proposed techniques for enclosing invariant sets, the systems examined in this paper are controlled via sliding mode techniques with subsequently enclosing the invariant sets by an interval based set inversion technique. The applied methods for the control synthesis make use of a suitably chosen Gr&ouml, bner basis, which is employed to solve B&eacute, zout&rsquo, s identity. Illustrating simulation results conclude this paper to visualize the novel combination of sliding mode control with an interval based computation of invariant sets.

Published
2019
Full Text
View/download PDF

13. Design and control of a low-cost autonomous profiling float

Author

Luc Jaulin, Gilles Le Maillot, Thierry Ropert, Aurélien Ponte, Benoit Zerr, Thomas Le Mézo, Lab-STICC_ENSTAB_CID_PRASYS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), Laboratoire d'Océanographie Physique et Spatiale (LOPS), Institut de Recherche pour le Développement (IRD)-Institut Français de Recherche pour l'Exploitation de la Mer (IFREMER)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS), Institut Français de Recherche pour l'Exploitation de la Mer - Brest (IFREMER Centre de Bretagne), Institut Français de Recherche pour l'Exploitation de la Mer (IFREMER), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT), Institut de Recherche pour le Développement (IRD)-Institut Français de Recherche pour l'Exploitation de la Mer (IFREMER)-Institut national des sciences de l'Univers (INSU - CNRS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique)

Subjects
0209 industrial biotechnology, low-cost design, Float (project management), 010504 meteorology & atmospheric sciences, Computer science, Control (management), 02 engineering and technology, 01 natural sciences, Industrial and Manufacturing Engineering, Low-cost design, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Extended Kalman filter, [SPI]Engineering Sciences [physics], 020901 industrial engineering & automation, Control theory, depth control, Depth control, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], General Materials Science, Loop design, state feedback, 0105 earth and related environmental sciences, Profiling (computer programming), Mechanical Engineering, Float, Extended Kalman Filter, Key (cryptography), State (computer science), State feedback
Abstract

This paper presents the development made around the SeaBot, a new low-cost profiling float design for shallow water. We introduce a simplified dynamical model of the float and propose a state feedback depth controller coupled with an Extended Kalman Filter (EKF) to estimate model parameters. We show experimental results of the depth control that validate the model and the controller. We finally propose a loop design method to build low-cost floats by highlighting key design choices along with design rules.

Published
2019
Full Text
View/download PDF

14. Comparison of Interval Analysis and Standard Statistical Methods for Estimating Experimental Data with Uncertainty

Author

S. I. Kumkov, Luc Jaulin, Lab-STICC_ENSTAB_CID_PRASYS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)

Subjects
Observational error, Process parameters, Statistical methods, Applied Mathematics, 010401 analytical chemistry, Uncertainty conditions, Probabilistic logic, Process (computing), Experimental data, Sample (statistics), 01 natural sciences, 0104 chemical sciences, Interval arithmetic, 010309 optics, Set (abstract data type), Noise, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0103 physical sciences, Applied mathematics, Interval analysis, Noisy data, Instrumentation, Estimation, Mathematics
Abstract

International audience; Interval analysis procedures are used to estimate the parameters of an experimental chemical process under conditions of noise and uncertainty in the probabilistic characteristics of the measurement errors for a small measurement sample. Interval analysis makes it possible to describe exactly the set of admissible values of the estimated parameters needed for correct organization of the technological process through a correct choice of its parameters. Approximate estimates of the parameters are obtained by formal application of a statistical approach and it is shown that in this case the standard statistical approach yields essentially meaningless estimates for the parameters of the process studied here.

Published
2019
Full Text
View/download PDF

15. Calcul par intervalles pour la robotique mobile intelligente Lab-STICC

Author

Luc Jaulin, Benoit Zerr, Fabrice LE BARS, Simon Rohou, Damien Massé, Lab-STICC_ENSTAB_CID_PRASYS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)

Subjects
Intelligence artificielle, Robotique Mobile, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

National audience; Ces dernières décennies, la robotique mobile s’est développée largement dans des milieux structurés et déjà cartographiés. Dans desenvironnements inconnus et non-structurés, comme les planètes lointaines, les volcans, des grottes profondes, des zones irradiées, desveines karstiques, les bâtiments en feu, les fonds marins, la robotique change de nature.Non seulement, elle devient indispensable car l’humain peut difficilement intervenir de façon sécurisée, mais souvent l’opérateur ne peut plus aider les robots par téléopération. Ces derniers doivent alors posséder un maximum d’autonomie et d’intelligence afin de pouvoir accomplir leur mission. On parle alors de robotique exploratoire car le robot doit cartographier son environnement, prendre des décisions, se localiser et être capable de revenir.

Published
2019

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

Author

Elba Antonio, Luc Jaulin, Carlos H. de la Cruz, Fabrice Le Bars, Jorge Cervantes, Lab-STICC_ENSTAB_CID_PRASYS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL), Laboratoire Franco-Mexicain d'Informatique et d'Automatique (LAFMIA), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centro de Investigacion y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV)-Université de Technologie de Compiègne (UTC)-Consejo Nacional de Ciencia y Tecnología [Mexico] (CONACYT)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), and Luc Jaulin

Subjects
0209 industrial biotechnology, SIMPLE (military communications protocol), Computer science, business.industry, Ranging, Robotics, Control engineering, 0102 computer and information sciences, 02 engineering and technology, 01 natural sciences, Interval arithmetic, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Competition (economics), [SPI]Engineering Sciences [physics], 020901 industrial engineering & automation, 010201 computation theory & mathematics, Trajectory, Robot, Artificial intelligence, business, Envelope (motion)
Abstract

International audience; 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).

Published
2018
Full Text
View/download PDF

17. Secure a Zone from Intruders with a Group Robots

Author

Luc Jaulin, Benoit Zerr, Khadimoullah Vencatasamy, Lab-STICC_ENSTAB_CID_PRASYS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT), Luc Jaulin, Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)

Subjects
0209 industrial biotechnology, Group (mathematics), Computer science, Real-time computing, Submarine, 02 engineering and technology, 01 natural sciences, Interval arithmetic, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Set (abstract data type), [SPI]Engineering Sciences [physics], 020901 industrial engineering & automation, 0103 physical sciences, Robot, Underwater, 010301 acoustics
Abstract

International audience; The paper proposes new method to secure a zone of the world from intruders using a group a robots. The principle is to control the group in order to form a chain through which no intruder can go without being detected. We use a set membership method based on interval analysis and mathematical morphology to guarantee that no intruder is inside the secure zone. The approach is illustrated by an example where the environment is the Bay of Biscay, the intruder is a submarine and the group of robots consists of small underwater autonomous vehicles.

Published
2018
Full Text
View/download PDF

18. Moyens et méthodologies mis en oeuvre sur la Cordelière

Author

Luc Jaulin, Lab-STICC_ENSTAB_CID_PRASYS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT), Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)

Subjects
[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], ComputingMilieux_MISCELLANEOUS
Abstract

International audience

Published
2018

19. Position keeping control of an autonomous sailboat

Author

Ulysse Vautier, Jian Wan, Christophe Viel, Luc Jaulin, Lab-STICC_ENSTAB_CID_PRASYS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT), Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)

Subjects
0209 industrial biotechnology, 010505 oceanography, Computer science, Control (management), 02 engineering and technology, Nonlinear control, 01 natural sciences, Stability (probability), autonomous sailboat, Acceleration, 020901 industrial engineering & automation, non-linear control, Control and Systems Engineering, Position (vector), Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Position keeping, Point (geometry), Tacking, 0105 earth and related environmental sciences
Abstract

International audience; This paper addresses the problem of reaching and keeping a target position for a sailboat. A method to control sail angle is proposed, using an adaptive adjustment of the sail to regulate the acceleration of the sailboat. A tacking strategy is defined to navigate into the wind, arrive upwind to slow down the boat and then to stay close to the target point. Simulation results show the effectiveness of the proposed approach. The stability of the sailboat using the proposed control has been proven.

Published
2018
Full Text
View/download PDF

20. Tight slalom control for sailboat robots

Author

Maël Le Gallic, Joris Tillet, Luc Jaulin, Fabrice LE BARS, Lab-STICC_ENSTAB_CID_PRASYS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)

Subjects
[SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience; Existing controllers for sailboat robots are usually developed for speed performances and for long straight lines. In this context, the accuracy is not the main concern. In this paper, we consider the tight slalom problem which requires accuracy. We propose a feedback-linearization based method combined with a vector field approach to control the sailboat. Some simulations show that the robot is able to perform the slalom without missing any gate.

Published
2018

21. Validated Enclosure of Uncertain Nonlinear Equations Using SIVIA Monte Carlo

Author

Nisha Rani Mahato, Snehashish Chakraverty, Jean Dezert, Luc Jaulin, National Institute of Technology Rourkela, Lab-STICC_ENSTAB_CID_PRASYS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT), DTIS, ONERA, Université Paris Saclay (COmUE) [Palaiseau], and ONERA-Université Paris Saclay (COmUE)

Subjects
Van der Pol oscillator, Dynamical systems theory, Set inversion, Differential equation, Monte Carlo method, 020206 networking & telecommunications, 02 engineering and technology, Interval (mathematics), SIVIA Monte Carlo, Nonlinear oscillator, Interval arithmetic, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Nonlinear system, [SPI]Engineering Sciences [physics], 020303 mechanical engineering & transports, Uncertain nonlinear equations, 0203 mechanical engineering, 0202 electrical engineering, electronic engineering, information engineering, Applied mathematics, Dependency problem, Contractor, Mathematics
Abstract

International audience; The dynamical systems in various science and engineering problems are often governed by nonlinear equations (differential equations). Due to insufficiency and incompleteness of system information, the parameters in such equations may have uncertainty. Interval analysis serves as an efficient tool for handling uncertainties in terms of closed intervals. One of the major problems with interval analysis is handling “dependency problems” for computation of the tightest range of solution enclosure or exact enclosure. Such dependency problems are often observed while dealing with complex nonlinear equations. In this regard, initially, two test problems comprising interval nonlinear equations are considered. The Set Inversion via Interval Analysis (SIVIA) along with the Monte Carlo approach is used to compute the exact enclosure of the test problems. Further, the efficiency of the proposed approach has also been verified for solving nonlinear differential equation (Van der Pol oscillator) subject to interval initial conditions.

Published
2018
Full Text
View/download PDF

22. Fuzzy Matrix Contractor Based Approach for Localization of Robots

Author

Luc Jaulin, Snehashish Chakraverty, Nisha Rani Mahato, Lab-STICC_ENSTAB_CID_PRASYS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)

Subjects
0209 industrial biotechnology, Mathematical optimization, Orientation (computer vision), Computer science, Gaussian, Frame (networking), 02 engineering and technology, Fuzzy logic, Computer Science::Computers and Society, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science::Robotics, symbols.namesake, Matrix (mathematics), 020901 industrial engineering & automation, Position (vector), 0202 electrical engineering, electronic engineering, information engineering, symbols, Robot, 020201 artificial intelligence & image processing, Pose, ComputingMilieux_MISCELLANEOUS
Abstract

Localization consists of finding the pose of some robots with respect to its position and orientation. In case of localization of a group of robots over a planar surface, each robot is linked with other robots using constraints that may be considered in term of matrix equations. As such, this chapter deals with the localization of group of robots using angle and distance constraints associated with fuzzy matrix contractors. Matrix contractors based on azimuth–distance and bearing-distance constraints help efficient propagation of fuzzy uncertainties through a group of robots for localization purpose when no absolute frame is present. Finally, various groups of robots have been considered for the verification of proposed contractors viz. azimuth, distance, azimuth–distance, and bearing-distance contractors using Gaussian fuzzy uncertainty.

Published
2018

23. Marine Robotics and Applications

Author

Benoit Zerr, Marc Carreras, Andrea Caiti, Vincent Creuze, Luc Jaulin, Frédéric Plumet, Annick Billon-Coat, Lab-STICC_ENSTAB_CID_PRASYS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT), University of Pisa - Università di Pisa, Universitat de Girona (UdG), Image & Interaction (ICAR), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Systèmes robotiques Conception et Commande (SYROCO), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), and Springer International Publishing

Subjects
Computer science, business.industry, Marine robotics, Robotics, Propulsion, Sonar, Adaptive sampling, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Underwater environments, Systems engineering, 14. Life underwater, Artificial intelligence, Underwater, business, Collective exploration, [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing
Abstract

OUV; International audience; This book reports on findings at the intersection between two related fields, namely coastal hydrography and marine robotics. On one side, it shows how the exploration of the ocean can be performed by autonomous underwater vehicles; on the other side, it shows how some methods from hydrography can be implemented in the localization and navigation of such vehicles, e.g. for target identification or path finding. Partially based on contributions presented at the conference Quantitative Monitoring of Underwater Environment, MOQESM, held on October 11-12, 2016, Brest, France, this book includes carefully revised and extended chapters presented at the conference, together with original papers not related to the event. All in all, it provides readers with a snapshot of current methods for sonar track registration, multi-vehicles control, collective exploration of underwater environments, optimization of propulsion systems, among others. More than that, the book is aimed as source of inspiration and tool to promote further discussions and collaboration between hydrographers, robotic specialists and other related communities.

Published
2018
Full Text
View/download PDF

24. Bracketing the solutions of an ordinary differential equation with uncertain initial conditions

Author

Benoit Zerr, Thomas Le Mézo, Luc Jaulin, Lab-STICC_ENSTAB_CID_PRASYS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL), Pôle STIC_OSM, École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), DGA, École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)

Subjects
0209 industrial biotechnology, Dynamical systems theory, ODE, Applied Mathematics, Mathematical analysis, [MATH.MATH-DS]Mathematics [math]/Dynamical Systems [math.DS], Abstract interpretation, Interval computation, 02 engineering and technology, State (functional analysis), Interval (mathematics), Infinity, Interval arithmetic, Computational Mathematics, 020901 industrial engineering & automation, Bounded function, Ordinary differential equation, Dynamical systems, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, Positive invariant set, Bracketing, Mathematics
Abstract

International audience; In this paper, we present a new method for bracketing (i.e., characterizing from inside and from outside) all solutions of an ordinary differential equation in the case where the initial time is inside an interval and the initial state is inside a box. The principle of the approach is to cast the problem into bracketing the largest positive invariant set which is included inside a given set X. Although there exists an efficient algorithm to solve this problem when X is bounded, we need to adapt it to deal with cases where X is unbounded.

Published
2018
Full Text
View/download PDF

25. An interval space reducing method for constrained problems with particle swarm optimization

Author

Thiago Melo Machado-Coelho, Gustavo Luís Soares, Petr Ekel, Luc Jaulin, Witold Pedrycz, Alexei Manso Correa Machado, Pontifical Catholic University of Minas Gerais [Belo Horizonte], Lab-STICC_ENSTAB_CID_PRASYS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL), Pôle STIC_OSM, École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), University of Alberta, École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)

Subjects
Continuous optimization, 0209 industrial biotechnology, Mathematical optimization, Meta-optimization, Constrained Optimization, Imperialist competitive algorithm, 02 engineering and technology, Evolutionary computation, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Vector optimization, [SPI]Engineering Sciences [physics], 020901 industrial engineering & automation, Particle Swarm Optimization, Derivative-free optimization, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, Multi-swarm optimization, Global optimization, Metaheuristic, Software, Interval Analysis, Mathematics
Abstract

International audience; In this paper, we propose a method for solving constrained optimization problems using Interval Analysis combined with Particle Swarm Optimization. A Set Inverter Via Interval Analysis algorithm is used to handle constraints in order to reduce constrained optimization to quasi unconstrained one. The algorithm is useful in the detection of empty search spaces, preventing useless executions of the optimization process. To improve computational efficiency, a Space Cleaning algorithm is used to remove solutions that are certainly not optimal. As a result, the search space becomes smaller at each step of the optimization procedure. After completing pre-processing, a modified Particle Swarm Optimization algorithm is applied to the reduced search space to find the global optimum. The efficiency of the proposed approach is demonstrated through comprehensive experimentation involving 100,000 runs on a set of well-known benchmark constrained engineering design problems. The computational efficiency of the new method is quantified by comparing its results with other PSO variants found in the literature.

Published
2017
Full Text
View/download PDF

26. Thick set inversion

Author

Benoit Desrochers, Luc Jaulin, Délégation générale de l'armement (DGA), Ministère de la Défense, Lab-STICC_ENSTAB_CID_PRASYS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL), Pôle STIC_OSM, École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)

Subjects
Discrete mathematics, Linguistics and Language, Set inversion, Efficient algorithm, Uncertainty, 010103 numerical & computational mathematics, 02 engineering and technology, Function (mathematics), 01 natural sciences, Language and Linguistics, Interval arithmetic, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], Set (abstract data type), Artificial Intelligence, Set function, Index set, 0202 electrical engineering, electronic engineering, information engineering, Constraint programming, Set-Membership methods, 020201 artificial intelligence & image processing, 0101 mathematics, Interval Analysis, Mathematics
Abstract

This paper deals with the set inversion problem X = f − 1 ( Y ) in the case where the function f : R n → R m and the set Y are both uncertain. The uncertainty is treated under the form of intervals. More precisely, for all x, f ( x ) is inside the box [ f ] ( x ) and the uncertain set Y is bracketed between an inner set Y ⊂ and an outer set Y ⊃ . The introduction of new tools such as thick intervals and thick boxes will allow us to propose an efficient algorithm that handles the uncertainty of sets in an elegant and efficient manner. Some elementary test-cases that cannot be handled easily and properly by existing methods show the efficiency of the approach.

Published
2017
Full Text
View/download PDF

27. Calcul garanti de trajectoires de robots

Author

Luc Jaulin, Sandor M. Veres, Fabrice Le Bars, Lyudmila Mihaylova, Simon Rohou, Lab-STICC_ENSTAB_CID_PRASYS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT), Pôle STIC_OSM, École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), University of Sheffield [Sheffield], and This work has been supported by the French Direction Générale de l’Armement (DGA) during the UK-France PhD program.

Subjects
0209 industrial biotechnology, Mathematical optimization, ODE, Computer science, Differential equation, General Mathematics, Constraint (computer-aided design), [MATH.MATH-DS]Mathematics [math]/Dynamical Systems [math.DS], 02 engineering and technology, tube programming, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], contractors, 020901 industrial engineering & automation, Differential inclusion, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Differential (infinitesimal), Flexibility (engineering), guaranteed integration, business.industry, Ode, Robotics, Mobile robot, Computer Science Applications, mobile robotics, Control and Systems Engineering, Robot, 020201 artificial intelligence & image processing, Artificial intelligence, business, constraints, Software, [MATH.MATH-NA]Mathematics [math]/Numerical Analysis [math.NA]
Abstract

This paper proposes a new method for guaranteed integration of state equations. Within this framework, the variables of interest are trajectories submitted to both arithmetic and differential equations. The approach consists in formalizing a problem thanks to a constraint network and then apply these constraints to sets of trajectories. The contribution of the paper is to provide a reliable framework to enclose the solutions of these differential equations. Its use is shown to be simple, more general and more competitive than existing approaches dealing with guaranteed integration, especially when applied to mobile robotics. The flexibility of the developed framework allows to deal with non-linear differential equations or even differential inclusions built from datasets, while considering observations of the states of interest. An illustration of this method is given over several examples with mobile robots. A contractor-based approach is proposed for guaranteed integration of state equations.The framework is based on the use of tubes as envelopes of feasible trajectories.A dedicated differential contractor is provided to deal with dynamical systems.The use of tubes is well suited for multi-differential and non-linear equations.An illustration of this approach is given over several mobile robotics examples.

Published
2017
Full Text
View/download PDF

28. Robust Data Processing in the Presence of Uncertainty and Outliers: Case of Localization Problems

Author

Luc Jaulin, Martine Ceberio, Vladik Kreinovich, Anthony Welte, Laboratoire Chrono-environnement ( LCE ), Université Bourgogne Franche-Comté ( UBFC ) -Centre National de la Recherche Scientifique ( CNRS ) -Université de Franche-Comté ( UFC ), Lab-STICC_ENSTAB_CID_IHSEV, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance ( Lab-STICC ), École Nationale d'Ingénieurs de Brest ( ENIB ) -Université de Bretagne Sud ( UBS ) -Université de Brest ( UBO ) -Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques ( IBNM ), Université de Brest ( UBO ) -Université européenne de Bretagne ( UEB ) -ENSTA Bretagne-Institut Mines-Télécom [Paris]-Centre National de la Recherche Scientifique ( CNRS ) -École Nationale d'Ingénieurs de Brest ( ENIB ) -Université de Bretagne Sud ( UBS ) -Université de Brest ( UBO ) -Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques ( IBNM ), Université de Brest ( UBO ) -Université européenne de Bretagne ( UEB ) -ENSTA Bretagne-Institut Mines-Télécom [Paris]-Centre National de la Recherche Scientifique ( CNRS ), Pôle STIC_OSM, ENSTA Bretagne, University of Texas at El Paso - UTEP (USA), Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), Lab-STICC_ENSTAB_CID_PRASYS, École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT), University of Texas [El Paso] (UTEP ), Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)

Subjects
Data processing, Observational error, 010504 meteorology & atmospheric sciences, Computer science, Robust statistics, 010103 numerical & computational mathematics, computer.software_genre, 01 natural sciences, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Interval analysis method, [ SPI.AUTO ] Engineering Sciences [physics]/Automatic, Outlier, Measurement uncertainty, Probability distribution, Entropy (information theory), Data mining, 0101 mathematics, Heuristics, computer, 0105 earth and related environmental sciences
Abstract

International audience; To properly process data, we need to take intoaccount both the measurement errors and the fact that someof the observations may be outliers. This is especially importantin radar-based localization problems, where some signals mayreflect not from the analyzed object, but from some nearby object.There are known methods for dealing with both measurementerrors and outliers in situations in which we have full informationabout the corresponding probability distributions. There are alsoknown statistics-based methods for dealing with measurementerrors in situations when we only have partial informationabout the corresponding probabilities. In this paper, we showhow these methods can be extended to situations in which wealso have partial inf0ormation about the outliers (and even tosituations when we have no information about the outliers). Insome situations in which efficient semi-heuristic methods areknown, our methodology leads to a justification of these efficientheuristics – which makes us confident that our new methods willbe efficient in other situations as well.

Published
2016

29. Set-Membership Approach to the Kidnapped Robot Problem

Author

Benoit Desrochers, Simon Lacroix, Luc Jaulin, Département STIC [Brest] (STIC), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), Lab-STICC_ENSTAB_CID_IHSEV, OSM, École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), Lab-STICC_ENSTAB_CID_PRASYS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT), Équipe Robotique et InteractionS (LAAS-RIS), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Pôle STIC [Brest] (STIC), Pole STIC, ENSTA Bretagne, Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse 1 Capitole (UT1)-Université Toulouse - Jean Jaurès (UT2J)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse 1 Capitole (UT1)-Université Toulouse - Jean Jaurès (UT2J), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique)

Subjects
0209 industrial biotechnology, Matching (graph theory), Computer science, business.industry, Raised-relief map, 02 engineering and technology, Interval (mathematics), Kidnapped robot problem, GeneralLiterature_MISCELLANEOUS, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Set (abstract data type), 020901 industrial engineering & automation, Robustness (computer science), Outlier, 0202 electrical engineering, electronic engineering, information engineering, Robot, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], 020201 artificial intelligence & image processing, Computer vision, Algorithm design, Artificial intelligence, business, Lidar data, Interval Analysis
Abstract

International audience; This article depicts an algorithm which matches the output of a Lidar with an initial terrain model to estimate the absolute pose of a robot. Initial models do not perfectly fit the reality and the acquired data set can contain an unknown, and potentially large, proportion of outliers. We present an interval based algorithm that copes with such conditions, by matching the Lidar data with the terrain model in a robust manner. Experimental validations using different terrain model are reported to illustrate the performance of the method.

Published
2015

30. Contractors and Linear Matrix Inequalities

Author

Luc Jaulin, Jeremy Nicola, Lab-STICC_ENSTAB_CID_IHSEV, OSM, Département STIC [Brest] (STIC), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), Lab-STICC_ENSTAB_CID_PRASYS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT), and Pôle STIC [Brest] (STIC)

Subjects
Mathematical optimization, Polynomial, convex optimization, Intersection (set theory), Mechanical Engineering, Linear matrix inequality, constraint propagation, Fixed point, Interval arithmetic, robotics Read More: http://ascelibrary.org/doi/abs/10.1115/1.4030781, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Nonlinear system, contractor programming, Convex optimization, Local consistency, Robotics, Safety, Risk, Reliability and Quality, interval analysis, Safety Research, linear matrix inequality, Mathematics
Abstract

Linear matrix inequalities (LMIs) comprise a large class of convex constraints. Boxes, ellipsoids, and linear constraints can be represented by LMIs. The intersection of LMIs are also classified as LMIs. Interior-point methods are able to minimize or maximize any linear criterion of LMIs with complexity, which is polynomial regarding to the number of variables. As a consequence, as shown in this paper, it is possible to build optimal contractors for sets represented by LMIs. When solving a set of nonlinear constraints, one may extract from all constraints that are LMIs in order to build a single optimal LMI contractor. A combination of all contractors obtained for other non-LMI constraints can thus be performed up to the fixed point. The resulting propogation is shown to be more efficient than other conventional contractor-based approaches. This article is available in the ASME Digital Collection at http://dx.doi.org/10.1115/1.4030781.

Published
2015
Full Text
View/download PDF

31. The World Robotic Sailing Championship, a competition to stimulate the development of autonomous sailboats

Author

Fabrice Le Bars, Luc Jaulin, Département STIC [Brest] (STIC), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), Lab-STICC_ENSTAB_CID_IHSEV, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS), and Billon-Coat, Annick

Subjects
Engineering, business.industry, Robotics, sailboats, WRSC, [SPI.AUTO]Engineering Sciences [physics]/Automatic, autonomous robots, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Aeronautics, IRSC, Robot, Artificial intelligence, Championship, business
Abstract

International audience; The WRSC (World Robotic Sailing Championship) / IRSC (International Robotic Sailing Conference) is an international and annual competition and conference that aims at stimulating the development of autonomous marine robotics and its applications. The competition, originally designed for sailboats, is also opened to motorboats as a separate category since 2013. In this paper, we will present the competition through the example of the 2013 edition, and show its results, specificities, issues as well as improvements for the next editions

Published
2015

32. Sailboat as a windmill

Author

Luc Jaulin, Fabrice Le Bars, Billon-Coat, Annick, Fabrice Le Bars - Luc Jaulin, Lab-STICC_ENSTAB_CID_IHSEV, OSM, Département STIC [Brest] (STIC), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), and Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Engineering, 010505 oceanography, business.industry, autonomous sailboat robot, Control engineering, 02 engineering and technology, 7. Clean energy, 01 natural sciences, Turbine, Power (physics), [SPI.AUTO]Engineering Sciences [physics]/Automatic, Generator (circuit theory), Electric energy, 020901 industrial engineering & automation, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Control theory, Robot, windwill, business, 0105 earth and related environmental sciences, Marine engineering, Windmill
Abstract

International audience; This paper proposes to transform a sailboat robot into a big wind turbine (or windmill) corresponding to the boat itself. The main idea is to make the sailboat rotating as fast as possible. When the wind open the sail, the mainsheet is able to pull a generator in order to produce electric energy. The resulting controller is simple to implement and its parameters are easy to tune. A simulated test-case shows that the proposed technique could generate an average power of approximatively 100W

Published
2013

33. Towing with sailboat robots

Author

Fabrice Le Bars, Luc Jaulin, Billon-Coat, Annick, Lab-STICC_ENSTAB_CID_IHSEV, OSM, Département STIC [Brest] (STIC), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), and NUI Galway

Subjects
0209 industrial biotechnology, 010505 oceanography, Computer science, Proportional control, 02 engineering and technology, Object (computer science), 01 natural sciences, Square (algebra), [SPI.AUTO]Engineering Sciences [physics]/Automatic, Arbitrarily large, sailboat robot, 020901 industrial engineering & automation, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Trajectory, Robot, controller, Towing, Energy (signal processing), 0105 earth and related environmental sciences, Marine engineering
Abstract

International audience; Moving huge objects floating at the surface of the ocean (such as containersor icebergs) with boats requires many human operators and a lot of energy.This is mainly due to the fact that when humans operate such equipment, time iscostly. Now, when we have time (as when robots operate, for instance), it is possibleto move arbitrarily large objects, for over long distances, with a limited quantity ofenergy. This is a consequence of the fact that in the water, the friction forces areproportional to the square of the speed (i.e., when we go slowly, we have almostno friction). This paper proposes the use of a sailboat robot to tow large objects. Itshows which control law could be used is order to (i) avoid loops inside the towingcable, (ii) avoid collisions between the robot and the towed object, and (iii) movethe object toward the desired direction. The control law is validated on a simulationwhere the object to be towed has to follow a trajectory corresponding to a largecircle.

Published
2015

34. Hybridization of Monte Carlo and Set-membership Methods for theGlobal Localization of Underwater Robots

Author

Renan Maffei, Mariana Kolberg, Jeremy Nicola, Edson Prestes, Luc Jaulin, Renata Neuland, Universidade Federal do Rio Grande do Sul [Porto Alegre] (UFRGS), Département STIC [Brest] (STIC), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), Lab-STICC_ENSTAB_CID_IHSEV, OSM, École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), IEEE/RSJ, and Billon-Coat, Annick

Subjects
Mathematical optimization, business.industry, Monte Carlo method, Underwater robot, Probabilistic logic, Monte Carlo localization, Robotics, Field (computer science), Interval arithmetic, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Artificial intelligence, Localization and Tracking, Particle filter, business, Subspace topology, Interval Analysis, Mathematics
Abstract

International audience; Probabilistic approaches are extensively used tosolve high-dimensionality problems in many different fields. Theparticle filter is a prominent approach in the field of Robotics,due to its adaptability to non-linear models with multi-modaldistributions. Nonetheless, its result is strongly dependent on thequality and the number of samples required to cover the spaceof possible solutions. In contrast, interval analysis deals withhigh-dimensionality problems by reducing the space enclosingthe actual solution. Notwithstanding, it cannot precise wherein the resulting subspace the actual solution is. We devised astrategy that combines the best of both worlds. Our approachis illustrated by solving the global localization problem forunderwater robots.

Published
2014

35. Solving non-linear constraint satisfation problems involving time-dependant functions

Author

Aymeric Bethencourt, Luc Jaulin, Lab-STICC_ENSTAB_CID_IHSEV, OSM, Département STIC [Brest] (STIC), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), and Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Mathematical optimization, Applied Mathematics, 02 engineering and technology, Resolution (logic), [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computational Mathematics, Nonlinear system, 020901 industrial engineering & automation, Test case, Computational Theory and Mathematics, 0202 electrical engineering, electronic engineering, information engineering, Interval analysis Constraint satisfaction problem Tubes Time dependant functions Primary 65G40 Secondary 65G30, Order (group theory), 020201 artificial intelligence & image processing, Dependant, Constraint satisfaction problem, Mathematics
Abstract

International audience; In this paper, we consider the resolution of non-linear constraint satisfaction problems where the variables of the systems are trajectories (functions from R to Rn). We introduce the notion of tubes as intervals of functions, for which the lower and upper bounds are trajectories with respect to the inclusion. We then define basic operators and prove propositions verified by tubes. We show the possibility to build contractors on tubes and propagate constraints to solve problems involving time-dependant functions as the unknown variables.We show that the approach is particularly powerful when inter-temporal equations (e.g. delays) are involved. Finally, in order to illustrate the principle and efficiency of the approach, several test cases are provided.

Published
2014
Full Text
View/download PDF

36. Introduction to the Algebra of Separators with Application to Path Planning

Author

Benoit Desrochers, Luc Jaulin, Lab-STICC_ENSTAB_CID_IHSEV, OSM, Département STIC [Brest] (STIC), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), Pôle STIC [Brest] (STIC), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), and Billon-Coat, Annick

Subjects
Mathematical optimization, Computer science, set characterization, Solution set, Separator (oil production), Interval arithmetic, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Algebra, Nonlinear system, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Artificial Intelligence, Control and Systems Engineering, separators, Motion planning, Contractors, Electrical and Electronic Engineering, Robust control, interval analysis, path planning
Abstract

International audience; 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.

Published
2014

37. Inner and outer approximations of probabilistic sets

Author

Benoit Desrochers, Luc Jaulin, Alexandru Stancu, Lab-STICC_ENSTAB_CID_IHSEV, OSM, Département STIC [Brest] (STIC), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), Department of Physics, Alexandru Ioan Cuza University of Iași [Romania], and University of Liverpool

Subjects
Mathematical optimization, Set inversion, set estimation, Probabilistic logic, Value (computer science), Mobile robot, robot, Interval (mathematics), 16. Peace & justice, localization, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Set (abstract data type), Outlier, Probabilistic analysis of algorithms, intervals methods, Algorithm, Mathematics
Abstract

International audience; This paper proposes a set-membership method to characterize a probabilistic set,i.e., a set enclosing the true value for the parameter vector of a parametric system witha given probability. The approach assumes that all errors are independent and an intervalfor the error is known. To each error interval, a probability to be an outlier is provided.It is shown that characterizing the probabilistic set is a set inversion problem. The maincontribution of the paper is to provide a method to characterize the inner part of theprobabilistic set. As an illustration, an application to the static localization of a mobilerobot is considered.

Published
2014
Full Text
View/download PDF

38. Cooperative localization of underwater robots with unsynchronized clocks

Author

Luc Jaulin, Aymeric Bethencourt, Lab-STICC_ENSTAB_CID_IHSEV, OSM, Département STIC [Brest] (STIC), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), and Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Technology, Computer science, Cognitive Neuroscience, Real-time computing, 0102 computer and information sciences, 02 engineering and technology, Interval (mathematics), Constraint satisfaction, 01 natural sciences, Sonar, Clock synchronization, Interval arithmetic, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science::Robotics, Behavioral Neuroscience, 020901 industrial engineering & automation, Developmental Neuroscience, Artificial Intelligence, Interval analysis, AUV, Constraint satisfaction problem, Human-Computer Interaction, 010201 computation theory & mathematics, Localization, Trajectory, Robot, Group of underwater robots
Abstract

This paper proposes an interval based approach for localizing a group of underwater robots with unsynchronized clocks. We use sonar communication and consider that the travel time of the sonar waves cannot be neglected, e.g. when the robots are fast and far-spaced. Therefore we cannot suppose that we measure a true distance between robots at the same time, but between robots at di􀉼erent times. Moreover, as the clocks of the robots are unsynchronized, the emitting and receiving times of the sonar waves are uncertain. To solve this problem, we cast the state equations of our robots as a constraint satisfaction problem and consider the sonar measurements as intertemporal constraints on uncertain times. We introduce the notion of interval of function to encompass the robots trajectory and clock with their uncertainty. We then use interval propagation to successively contract these intervals around the true position and clock of the robots. Several test cases are provided, with both simulated and experimental results.

Published
2013
Full Text
View/download PDF

39. Loop detection of mobile robots using interval analysis

Author

Clement Aubry, Luc Jaulin, Rozenn Desmare, Institut de Recherche de l'Ecole Navale (EA 3634) (IRENAV), Université de Bordeaux (UB)-Institut Polytechnique de Bordeaux-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-Arts et Métiers Sciences et Technologies, HESAM Université (HESAM)-HESAM Université (HESAM), Lab-STICC_ENSTAB_CID_IHSEV, OSM, Pôle STIC [Brest] (STIC), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS), Institut de Recherche de l'Ecole Navale (IRENAV), Département STIC [Brest] (STIC), Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), and Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, tubes, SLAM, 0102 computer and information sciences, 02 engineering and technology, loop closure, 01 natural sciences, Interval arithmetic, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Control theory, Interval analysis, Electrical and Electronic Engineering, Mathematics, For loop, robotics, Tubes, Loop closure, Mobile robot, Robotics, Automatique / Robotique [Sciences de l'ingénieur], Loop (topology), Two-dimensional space, 010201 computation theory & mathematics, Control and Systems Engineering, Underwater robot, interval analysis
Abstract

This paper proposes an original set-membership approach for loop detection of mobile robots in the situation where proprioceptive sensors only are available. To detect loops, the new concepts of the t-plane (which is a two dimensional space with time coordinates) are introduced. Intervals of functions (or tubes) are then used to represent uncertain trajectories and tests are provided in order to eliminate parts of the t-plane that do not correspond to any loop. An experiment with an actual underwater robot is proposed in order to illustrate the principle and the efficiency of the approach.; International audience; This paper proposes an original set-membership approach for loop detection of mobile robots in the situation where proprioceptive sensors only are available. To detect loops, the new concepts of the t-plane (which is a two dimensional space with time coordinates) are introduced. Intervals of functions (or tubes) are then used to represent uncertain trajectories and tests are provided in order to eliminate parts of the t-plane that do not correspond to any loop. An experiment with an actual underwater robot is proposed in order to illustrate the principle and the efficiency of the approach.

Published
2013
Full Text
View/download PDF

40. An experimental validation of a robust controller with the VAIMOS autonomous sailboat

Author

Luc Jaulin, Fabrice Le Bars, Lab-STICC_ENSTAB_CID_IHSEV, OSM, Département STIC [Brest] (STIC), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS), and Billon-Coat, Annick

Subjects
0209 industrial biotechnology, SIMPLE (military communications protocol), Computer science, Process (computing), Control engineering, 02 engineering and technology, Experimental validation, turbidity, Interval arithmetic, [SPI.AUTO]Engineering Sciences [physics]/Automatic, sailboat robot, [SPI.AUTO] Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Control theory, 0202 electrical engineering, electronic engineering, information engineering, Trajectory, Robot, 020201 artificial intelligence & image processing, Tweaking
Abstract

International audience; A sailboat is a strongly non-linear system that however has been proven to be easily controllable. Indeed, its mechanical design comes from an evolution from thousands of years with two main concerns: having a fast, reliable and ef cient vehicle while being easily controlled by humans. This article describes the functioning, the validation process and the performances of a simple controller, inspired from what navigators do, through tests made on the sailboat robot VAIMOS built by IFREMER for oceanography. This controller requires tweaking few parameters with real physical meaning while ensuring accurate trajectory following, needed to make oceanographic measurements in a speci c area.

Published
2012

41. Suivi de route pour un robot voilier

Author

Luc Jaulin, Fabrice LE BARS, Benoit Clement, Yvon Gallou, Olivier Menage, Olivier Reynet, Jan Sliwka, Benoît Zerr, Lab-STICC_ENSTAB_CID_IHSEV, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS), Pôle STIC_OSM, École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), Laboratoire de physique des océans (LPO), Institut de Recherche pour le Développement (IRD)-Institut Français de Recherche pour l'Exploitation de la Mer (IFREMER)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS), Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS), and Billon-Coat, Annick

Subjects
Commande non linéaire, [SPI.AUTO] Engineering Sciences [physics]/Automatic, voilier, robotique marine, réseau de Pétri, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience; Un robot voilier est un système fortement nonlinéaire qui pourtant se commande relativement facilement. En effet, sa conception mécanique découle d'une évolution pragmatique sur plusieurs milliers d'années avec pour double objectif : celui d'une machine rapide et celui d'avoir un véhicule facile à commander. Cet article propose une stratégie de régulation d'un robot voilier inspirée de celle utilisée par les navigateurs. Le régulateur qui en résulte est simple, avec peu de paramètres à régler et ayant un sens physique évident. Un test sur le robot voilier Vaimos est présenté afin d'illustrer les performances du régulateur.

Published
2012

42. Robust Multitarget Tracking in Forward-Looking Sonar Image Sequences Using Navigational Data

Author

Yann Dupas, Isabelle Quidu, Alain Bertholom, Luc Jaulin, Lab-STICC_ENSTAB_CID_SFIIS, OSM, Département STIC [Brest] (STIC), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS), Lab-STICC_ENSTAB_CID_IHSEV, Groupe d'Etudes Sous-Marines de l'Atlantique (DGA/DET/GESMA), DGA, Service Hydrographique et Océanographique de la Marine (SHOM), and Ministère de la Défense

Subjects
Autonomous underwater vehicles (AUVs), 0209 industrial biotechnology, Relation (database), Computer science, Ocean Engineering, 02 engineering and technology, 01 natural sciences, Sonar, obstacle avoidance, 020901 industrial engineering & automation, [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing, Position (vector), Obstacle avoidance, process modeling, Computer vision, multitarget tracking, Electrical and Electronic Engineering, 0105 earth and related environmental sciences, [SPI.ACOU]Engineering Sciences [physics]/Acoustics [physics.class-ph], 010505 oceanography, business.industry, Mechanical Engineering, Tracking system, Kalman filter, [PHYS.MECA.ACOU]Physics [physics]/Mechanics [physics]/Acoustics [physics.class-ph], Obstacle, Video tracking, Artificial intelligence, business, [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing
Abstract

WOS; International audience; This paper presents a new approach to the problem of tracking objects in sequences of forward-looking sonar images. Unlike previous work, navigational data are taken as inputs to the state model of the Kalman filter used for tracking fixed obstacles. This model allows a robust prediction of their apparent motion in relation to the position of the sonar. A complete framework is presented where detection and data association issues are also discussed. An assessment of the proposed method has been carried out on real data from two different systems. Moreover, whereas the state model was first derived for a ground obstacle, a modified state model is proposed to estimate the altitude of the obstacle in relation to the sonar position using a number of successive pings.

Published
2012
Full Text
View/download PDF

43. Color-based underwater object recognition using water light attenuation

Author

Isabelle Quidu, Luc Jaulin, Stéphane Bazeille, École Nationale Supérieure de Techniques Avancées (ENSTA Paris), Lab-STICC_ENSTAB_CID_SFIIS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS), Pôle STIC_OSM, École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), and Lab-STICC_ENSTAB_CID_IHSEV

Subjects
underwater robot, Color normalization, Computer science, Vision, Computational Mechanics, ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, 02 engineering and technology, 01 natural sciences, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 010309 optics, [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing, Artificial Intelligence, Robustness (computer science), 0103 physical sciences, 0202 electrical engineering, electronic engineering, information engineering, Computer vision, Underwater, Engineering (miscellaneous), business.industry, Mechanical Engineering, Attenuation, Cognitive neuroscience of visual object recognition, Light attenuation, color, Obstacle, Video tracking, 020201 artificial intelligence & image processing, Artificial intelligence, business, light attenuation, [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing
Abstract

International audience; Abstract--In this article we present a new approach for object recognition in a robotic underwater context. Color is an attractive feature because of its simplicity and its robustness to scale changes, object positions and partial occlusions. Unfortunately, in the underwater medium, the colors are modified by attenuation and are not constant with the distance. To perform a color-based recognition of an object, we develop an algorithm robust with respect to the attenuation which takes into account the light modification during its path between the light source and the camera. Therefore, a given underwater object can be identified in an image by detecting all the colors compatible with its prior known color. Our method is fast, robust and needs a very few computers resources. We successfully used it when experimenting in the sea using a system we built. It is suitable for robotic applications where computers resources are limited and shared between various embedded devices. This novel concept enables the use of the color in many applications such as target interception, object tracking or obstacle detection.

Published
2012
Full Text
View/download PDF

44. Solving set-valued constraint satisfaction problems

Author

Luc Jaulin, Lab-STICC_ENSTAB_CID_IHSEV, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS), Pôle STIC_OSM, and École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)

Subjects
0102 computer and information sciences, 02 engineering and technology, Constraint satisfaction, 01 natural sciences, Upper and lower bounds, Theoretical Computer Science, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Combinatorics, Constraint logic programming, 0202 electrical engineering, electronic engineering, information engineering, Interval analysis, Contractors, Set intervals, Constraint satisfaction problem, Mathematics, Discrete mathematics, Numerical Analysis, Hybrid algorithm (constraint satisfaction), Order (ring theory), Constraint propagation, Computer Science Applications, Computational Mathematics, Computational Theory and Mathematics, 010201 computation theory & mathematics, Constraint graph, Local consistency, 020201 artificial intelligence & image processing, Software
Abstract

In this paper, we consider the resolution of constraint satisfaction problems in the case where the variables of the problem are subsets of $${\mathbb{R}^{n}}$$. In order to use a constraint propagation approach, we introduce set intervals (named i-sets), which are sets of subsets of $${\mathbb{R}^{n}}$$ with a lower bound and an upper bound with respect to the inclusion. Then, we propose basic operations for i-sets. This makes possible to build contractors that are then used by the propagation to solve problem involving sets as unknown variables. In order to illustrate the principle and the efficiency of the approach, a testcase is provided.

Published
2012
Full Text
View/download PDF

45. Set-membership state estimation with fleeting data

Author

Jan Sliwka, Olivier Reynet, Fabrice Le Bars, Luc Jaulin, Département STIC [Brest] (STIC), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), OSM, École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (UMR 3192) (Lab-STICC), Université européenne de Bretagne - European University of Brittany (UEB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Télécom Bretagne-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université européenne de Bretagne - European University of Brittany (UEB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Institut Brestois du Numérique et des Mathématiques (IBNM), and Université de Brest (UBO)-Télécom Bretagne-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Département STIC [Brest] (STIC)

Subjects
0209 industrial biotechnology, Engineering, ComputerApplications_COMPUTERSINOTHERSYSTEMS, 02 engineering and technology, computer.software_genre, Sonar, law.invention, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science::Robotics, Set (abstract data type), Physics::Popular Physics, 020901 industrial engineering & automation, Robot localization, law, Fleeting data, 0202 electrical engineering, electronic engineering, information engineering, Interval analysis, Laser rangefinder, Electrical and Electronic Engineering, Radar, Estimation, business.industry, Observer, Set-membership estimation, Nonlinear system, Control and Systems Engineering, Localization, 020201 artificial intelligence & image processing, Artificial intelligence, Data mining, State (computer science), business, computer
Abstract

WOS; International audience; This paper deals with offline nonlinear state estimation where measurements are available only when some given equality conditions are satisfied. For this type of problems, which are often met in robot localization when sonar or radar are involved, the data are qualified as fleeting because the measurements are available only at some given unknown dates. In this paper, the first approach able to deal with nonlinear estimation with fleeting data is presented. An illustration related to offline robot localization with a laser rangefinder will be given.

Published
2012
Full Text
View/download PDF

46. A non-linear set-membership approach for the control of Discrete Event Systems

Author

Luc Jaulin, Laurent Hardouin, Mehdi Lhommeau, Billon-Coat, Annick, Laboratoire d'Ingéniérie des Systèmes Automatisés (LISA), Université d'Angers (UA), Département STIC [Brest] (STIC), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS)-Université d'Angers (UA), Lab-STICC_ENSTAB_CID_IHSEV, OSM, École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), and Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)

Subjects
Interval Arithmetic, 0209 industrial biotechnology, Mathematical optimization, Event (computing), Linear system, Min-Max-Plus, 02 engineering and technology, General Medicine, Max-plus algebra, Domain (software engineering), Interval arithmetic, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Max-plus Algebra, Set (abstract data type), Nonlinear system, 020901 industrial engineering & automation, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Timed Event Graphs, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, Constraint Satisfaction Problem, Constraint satisfaction problem, ComputingMilieux_MISCELLANEOUS, Mathematics
Abstract

International audience; A variety of problems in non-linear time-evolution systems such as manufacturing plants, operations research, computer networks, etc., can be modelled as min-max-plus systems in which operations of min, max and addition appear simultaneously. It is well know that systems with only maximum (or minimum) constraints can be modelled as max-plus system and handled by max-plus algebra which changes the original non-linear system into linear system in this framework. Several authors have developed methods, in max-plus algebra, to compute control for max-plus systems. In general, these methods use the residuation theory to design a just-in- time control such that the output of the controlled system is, on the one hand, less than the desired reference signal but as close as possible to the given reference and, on the other hand, the control is delayed as much as possible. In this paper, we consider min-max-plus systems which are extensions of max-plus systems and non-linear even in the max-plus algebra view. We proposes a new approach to solve the just-in-time control problem for a non-linear min-max- plus system. This problem is cast into the more general framework of constraint satisfaction problems. This makes it possible to propose a new algorithm that contracts the feasible domains for each uncertain variable optimally (i.e., no smaller domain could be obtained) and e ciently.

Published
2012

47. Processing Interval Sensor Data in the Presence of Outliers, with Potential Applications to Localizing Underwater Robots

Author

Martine Ceberio, Luc Jaulin, Jan Sliwka, Vladik Kreinovich, Extraction et Exploitation de l'Information en Environnements Incertains (E3I2), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), Département STIC [Brest] (STIC), Laboratoire d'Informatique de Nantes Atlantique (LINA), and Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-Université de Nantes (UN)

Subjects
0209 industrial biotechnology, Computer science, Reliability (computer networking), Value (computer science), 02 engineering and technology, Interval (mathematics), Machine learning, computer.software_genre, Upper and lower bounds, interval uncertainty, [SPI.AUTO]Engineering Sciences [physics]/Automatic, underwater robots, 020901 industrial engineering & automation, 0202 electrical engineering, electronic engineering, information engineering, Observational error, business.industry, outliers, Mobile robot, sensor data, Outlier, Measurement uncertainty, 020201 artificial intelligence & image processing, Artificial intelligence, business, computer, Algorithm
Abstract

International audience; Measurements are never absolutely accurate, the measurement result ex is, in general, different from the actual (unknown) values x of the corresponding quantity. In many practical problems, we only know upper bounds Δ on the measurement errors Δx def = ex x. In such situations, once we know the measurement result, the only conclusion that we can make about the actual value x is that this value belongs to the interval [exΔ; ex+Δ]. There exist many efficient algorithms for processing such interval data. However, these algorithms usually assume that all the measurement results are valid. In reality, due to factors such as sensor malfunction, some measurement results may be way off (outliers), for which the difference between ex and x is much larger than the upper bound Δ on the measurement error. In this paper, we overview the algorithmic problems related to processing interval sensor data in the presence of outliers. Our case study - for which we develop and analyze these algorithms - is localization of underwater robots, a problem in which a significant number of measurement results are outliers

Published
2011

48. Range-Only SLAM With Occupancy Maps: A Set-Membership Approach

Author

Luc Jaulin, Extraction et Exploitation de l'Information en Environnements Incertains (E3I2), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), and Département STIC [Brest] (STIC)

Subjects
0209 industrial biotechnology, Mathematical optimization, simultaneous localization and mapping (SLAM), 02 engineering and technology, Simultaneous localization and mapping, localization, Interval arithmetic, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Set (abstract data type), 020901 industrial engineering & automation, set-membership estimation, 0202 electrical engineering, electronic engineering, information engineering, interval propagation, Interval analysis, Electrical and Electronic Engineering, Constraint satisfaction problem, Mathematics, Real number, Extension (predicate logic), Computer Science Applications, Range (mathematics), Control and Systems Engineering, Local consistency, 020201 artificial intelligence & image processing, occupancy map, Algorithm
Abstract

WOS; International audience; This paper proposes a new set-membership approach to solve range-only simultaneous localization and mapping (SLAM) problems in the case where the map is described by an arbitrary occupancy set (i.e., we do not assume that the map is composed of segments, punctual marks, etc.). The principle is to transform the SLAM problem into a hybrid constraint satisfaction problem (CSP), where the variables can either be real numbers, vectors, trajectories, or subsets of Rn. An extension of existing constraint propagation methods is then proposed to solve hybrid CSPs involving set-valued variables. A simulated test case is then proposed to show the feasibility of the approach.

Published
2011
Full Text
View/download PDF

49. A wind-independent control strategy for autonomous sailboats based on Voronoi diagram

Author

Jan Sliwka, Kai Xiao, Luc Jaulin, Department of Computer Science and Engineering [Minneapolis], University of Minnesota [Twin Cities] (UMN), University of Minnesota System-University of Minnesota System, Extraction et Exploitation de l'Information en Environnements Incertains (E3I2), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), and Billon-Coat, Annick

Subjects
robotics, 010505 oceanography, Computer science, Control (management), wind-independent, 0102 computer and information sciences, Topology, 01 natural sciences, autonomous sailboat, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Voronoi diagram, [SPI.AUTO] Engineering Sciences [physics]/Automatic, 010201 computation theory & mathematics, control, 0105 earth and related environmental sciences
Abstract

International audience; This paper proposes a new control strategy based on Voronoi diagram for autonomous sailboats. This strategy applies the method of Voronoi diagram to decompose the space and uses a lookup table to make the boat sail as planned. The contribution of this paper is that for the rst time it proposes an approach to control autonomous sailboats without the data from wind sensors (with data from GPS and compass only). Since the sensor for detecting wind direction can break down at any time, this new strategy, independent of wind direction, is much more reliable. A simulation is proposed to illustrate the principle and the e ectiveness of the approach. Two real experiments on buggy and sailboat are also performed for validation.

Published
2011

50. Sailing without wind sensor and other hardware and software innovations

Author

Remi Coquelin, Francois Becket de Megille, Jan Sliwka, Luc Jaulin, Jeremy Nicola, Benoit Clement, OSM, Département STIC [Brest] (STIC), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), Lab-STICC_ENSTAB_CID_IHSEV, Extraction et Exploitation de l'Information en Environnements Incertains (E3I2), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Département STIC [Brest] (STIC), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), and Billon-Coat, Annick

Subjects
0209 industrial biotechnology, Engineering, Wind sensor, business.industry, 05 social sciences, Control (management), Weather vane, 050301 education, Control engineering, 02 engineering and technology, Wind direction, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [SPI.AUTO] Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Software, Trajectory, Robot, business, 0503 education, Energy (signal processing), Simulation
Abstract

In our paper, we propose a solution for a robotic sailboat which is adapted to long travel across the ocean. We tried to be as innovative as possible and stray out of the classical designs. In fact, robots often have different shapes from vehicles for mankind since first of all there are no human on board which means less constraints with regards to security, ergonomy or comfort. In this paper two innovations are presented. The first one addresses the main issue when navigating for a long time with a fully actuated sailing robot which is the energy used for guidance, navigation and control. One can use big solar panels to overcome that problem. Instead, we propose to use a wind vane self steering device. Our idea is to put this device on the bow which simplifies its design. This device regulates the trajectory of the boat relatively to wind direction. As a consequence, the wind sensor is not necessary. The second innovation is a strategy of navigation between waypoints. This paper will also present the prototype we used for testing those algorithms.

Published
2011

Catalog

Books, media, physical & digital resources
See catalog results