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Your search keyword '"Fabrice Le Bars"' showing total 12 results
Start Over Author "Fabrice Le Bars" Topic 0209 industrial biotechnology
12 results on '"Fabrice Le Bars"'

1. 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
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2. 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
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3. Méthode fiable d’estimation d'état non-linéaire impliquant des incertitudes temporelles

Author

Lyudmila Mihaylova, Sandor M. Veres, Luc Jaulin, Fabrice Le Bars, 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), and University of Sheffield [Sheffield]

Subjects
tubes, 0209 industrial biotechnology, Computer science, Computation, [MATH.MATH-DS]Mathematics [math]/Dynamical Systems [math.DS], 0102 computer and information sciences, 02 engineering and technology, 01 natural sciences, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], contractors, Set (abstract data type), 020901 industrial engineering & automation, Bounding overwatch, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], state estimation, Electrical and Electronic Engineering, robotics, non-linear systems, Mobile robot, Nonlinear system, 010201 computation theory & mathematics, Control and Systems Engineering, Bounded function, Trajectory, Local consistency, time uncertainties, constraints, Algorithm, [MATH.MATH-NA]Mathematics [math]/Numerical Analysis [math.NA]
Abstract

This paper presents a new approach to bounded-error state estimation involving time uncertainties. For a given bounded\ud observation of a continuous-time non-linear system, it is assumed that neither the values of the observed data nor their\ud acquisition instants are known exactly. For systems described by state-space equations, we prove theoretically and demonstrate\ud by simulations that the proposed constraint propagation approach enables the computation of bounding sets for the systems’\ud state vectors that are consistent with the uncertain measurements. The bounding property of the method is guaranteed even\ud if the system is strongly non-linear. Compared with other existing constraint propagation approaches, the originality of the\ud method stems from our definition and use of bounding tubes which enable to enclose the set of all feasible trajectories inside\ud sets. This method makes it possible to build specific operators for the propagation of time uncertainties through the whole\ud trajectory. The efficiency of the approach is illustrated on two examples: the dynamic localization of a mobile robot and the\ud correction of a drifting clock.

Published
2018
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4. 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
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5. 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
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6. 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

7. 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

8. Robotic Sailing 2013

Author

Fabrice Le Bars and Luc Jaulin

Subjects
0209 industrial biotechnology, 020901 industrial engineering & automation, Computer science, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, 02 engineering and technology
Published
2014
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9. 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

10. 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
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11. Using interval methods in the context of robust localization of underwater robots

Author

Jan Sliwka, Luc Jaulin, Fabrice Le Bars, Olivier Reynet, Billon-Coat, Annick, Extraction et Exploitation de l'Information en Environnements Incertains (E3I2), and École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)

Subjects
0209 industrial biotechnology, Context (language use), 02 engineering and technology, Machine learning, computer.software_genre, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science::Robotics, 020901 industrial engineering & automation, 0202 electrical engineering, electronic engineering, information engineering, Computer vision, Constraint satisfaction problem, Mathematics, Interval methods, business.industry, Binary image, Mobile robot, Robotics, Data set, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Outlier, Local consistency, 020201 artificial intelligence & image processing, Artificial intelligence, business, computer
Abstract

International audience; In this paper we will apply interval methods to solve the problem of robust localization of an underwater robot. The localization problem is cast into a constraint satisfaction problem (CSP) where constraint propagation algorithms are particularly efficient. The method is designed to work in real environments with numerous outliers. Besides, we used a new approach to represent the map by a binary image. This allow us to represent even unstructured maps. We tested the algorithm on a real data set gathered by an underwater robot in a marina located in Costa Brava.

Published
2011

12. Interval SLAM for underwater robots; a new experiment

Author

Luc Jaulin, Fabrice Le Bars, Alain Bertholom, Jan Sliwka, Billon-Coat, Annick, Extraction et Exploitation de l'Information en Environnements Incertains (E3I2), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), Département STIC [Brest] (STIC), Groupe d'Etudes Sous-Marines de l'Atlantique (DGA/DET/GESMA), and DGA

Subjects
0209 industrial biotechnology, Engineering, underwater robot, constraint propagation, 02 engineering and technology, Interval (mathematics), Simultaneous localization and mapping, localization, Interval arithmetic, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, set-membership estimation, 0202 electrical engineering, electronic engineering, information engineering, Computer vision, Constraint satisfaction problem, business.industry, Submarine, [SPI.AUTO] Engineering Sciences [physics]/Automatic, SLAM, Local consistency, Robot, Underwater robot, 020201 artificial intelligence & image processing, Artificial intelligence, business, interval analysis
Abstract

International audience; This paper provides a new submarine experiment and shows the results of an interval SLAM (Simultaneous Localization And Mapping) method. The SLAM problem is cast into a constraint satisfaction problem where interval propagation algorithms are particularly efficient. The resulting method is applied to the localization of a submarine robot from the GESMA (Groupe d'Etudes Sous-Marines de l'Atlantique), the Daurade during an experiment in the Douarnenez bay, in Brittany (France).

Published
2010

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