Abstract The problem considered here is state estimation in the presence of unknown but bounded perturbations and measurement noise. In this context, most available results are for linear models, purpose present paper to deal with non‐linear case. Based on interval analysis notion set inversion, a new estimator presented, which evaluates estimate guaranteed contain all values that consistent observations, given perturbation noise bounds containing initial value state. To best our knowledge,...

This paper proposes a set membership method based on interval analysis to solve the simultaneous localization and map building (SLAM) problem. The principle of approach is cast SLAM problem into constraint satisfaction for which propagation algorithms are particularly powerful. resulting illustrated an actual underwater robot.

This paper proposes an interval-based method for the validation of reliable and robust navigation rules mobile robots. The main idea is to show that all feasible perturbations, there exists a safe subset state space such system cannot escape. methodology illustrated on line-following problem sailboat then validated actual experiment where robot, which named Vaimos, sails autonomously from Brest Douarnenez (i.e., more than 100 km).

Bounded-error estimation is the of parameter or state vector a model from experimental data, under assumption that some suitably defined errors should belong to prior feasible sets. When outputs are linear in be estimated, number methods available contain all estimates consistent with data within simple sets such as ellipsoids, orthotopes parallelotopes, thereby providing guaranteed set estimates. In non-linear case, situation much less developed and there very few produce this paper,...

This paper proposes a new set-membership approach to solve range-only simultaneous localization and mapping (SLAM) problems in the case where map is described by an arbitrary occupancy set (i.e., we do not assume that composed of segments, punctual marks, etc.). The principle transform SLAM problem into hybrid constraint satisfaction (CSP), variables can either be real numbers, vectors, trajectories, or subsets \BBR <i xmlns:mml="http://www.w3.org/1998/Math/MathML"...

The problem considered is state estimation in the presence of unknown and measurement noise, each noise component being assumed to belong some known interval. In such a bounded-error context, most available results are for linear models, purpose present paper deal with nonlinear case. Based on interval analysis notion set inversion, new estimator presented, which evaluates estimate guaranteed contain all values that consistent observations, given bounds containing initial value state. To...

<para xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> This paper describes a robust version to the TEAM 22 benchmark optimization problem and presents methodology WCSA (worst case scenario approximation) solve this other similar cases. The multi-objective model was built from its classical configuration by assuming imprecisions in design space. General specific formulas were developed elaborate approach. adds an uncertainty parameter objective...

A new method is presented for characterizing the set of all values parameters a linear time-invariant model that are associated with stable behavior. formal Routh table used to formulate problem as one inversion, which solved approximately but globally tools borrowed from interval analysis. The readily extends design controllers stabilizing models in given class.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>