Loop detection of mobile robots using interval analysis
Type
Articles dans des revues avec comité de lectureDate
2013Journal
AutomaticaAbstract
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.
Files in this item
Collections
Related items
Showing items related by title, author, creator and subject.
-
BATTAGLIA, Jean-Luc; SCHICK, Vincent; KUSIAK, Andrzej; ROSSIGNOL, Clément; WIEMER, Claudia (Société Française de Thermique / Congrès Français de Thermique - Energie solaire et thermique, 24 - 27 mai 2011, Perpignan, 2011)La technique pompe - sonde résolue en temps est utilisée pour étudier les propriétés thermiques et mécaniques d’une couche de Ge2Sb2Te5 (GST) déposée sous forme de film sur un substrat de silicium. Une couche d’aluminium ...
-
SCHICK, Vincent; BATTAGLIA, Jean-Luc; KUSIAK, Andrzej; ROSSIGNOL, Clément (Société Française de Thermique / Congrès Français de Thermique - Energies et transports durables, 25 - 28 mai 2010, Le Touquet, 2010)Les PCM (Phase Change Memory) développés par l’industrie microélectronique utilisent des verres chalcogénures des systèmes Ge-Sb-Te pour assurer le stockage de données informatiques par changement de structures cristallines. ...
-
AUBRY, Denis; GUPTA, M.; LADOUX, B.; ALLENA, Rachele (IOPScience, 2015)Cell migration, a fundamental mechanobiological process, is highly sensitive to the biochemical and mechanical properties of the environment. Efficient cell migration is ensured by the intrinsic polarity of the cell, which ...
-
Laser cladding and wear testing of nickel base hardfacing materials: Influence of process parameters AUBRY, Pascal; BLANC, C; DEMIRCI, Ibrahim; DAL, Morgan; MALOT, T; MASKROT, H (Laser Institute of America, 2017)In fast neutron reactors, some parts can be subjected to displacements between each other (as movable parts for example). On these parts, the contact areas usually need a hardfacing coating. The standard hardfacing alloy ...
-
ALLENA, Rachele; AUBRY, Denis; SHARPE, James (Springer, 2013)Collective cell migration is a fundamental process that takes place during several biological phenomena such as embryogenesis, immunity response, and tumorogenesis, but the mechanisms that regulate it are still unclear. ...