Proving the Stability of the Rolling Navigation.

In this paper, we propose to study the stability of a navigation method that allows a robot to move in an unstructured environment without compass by measuring a scalar function' which only depends on the position. The principle is to ask the robot to roll along an isovalue of '. Using an interval method, we prove the stability of our closed loop system in the special case where' is linear. [ABSTRACT FROM AUTHOR]