• français
    • English
    français
  • Login
Help
View Item 
  •   Home
  • Institut de Recherche de l’École navale (IRENAV)
  • View Item
  • Home
  • Institut de Recherche de l’École navale (IRENAV)
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Loop detection of mobile robots using interval analysis

Type
Articles dans des revues avec comité de lecture
Author
AUBRY, Clément
13094 Institut de Recherche de l'Ecole Navale [IRENAV]
DESMARE, Rozenn
13094 Institut de Recherche de l'Ecole Navale [IRENAV]
JAULIN, Luc
199324 Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance [Lab-STICC]

URI
http://hdl.handle.net/10985/9035
DOI
10.1016/j.automatica.2012.11.009
Date
2013
Journal
Automatica

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.

Files in this item

Name:
IRENAV_AUTOMATICA_2013_DESMARE.pdf
Size:
931.6Kb
Format:
PDF
View/Open

Collections

  • Institut de Recherche de l’École navale (IRENAV)

Related items

Showing items related by title, author, creator and subject.

  • Comportement thermo - acoustique d’une interface métal – semiconducteur à changement de phase 
    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 ...
  • Caractérisation thermique d’une couche mince de Ge2Sb2Te5 en fonction de la température dans une expérience pompe-sonde résolue en temps 
    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. ...
  • Mechanical link between durotaxis, cell polarity and anisotropy during cell migration 
    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 ...
  • On the mechanical interplay between intra- and inter-synchronization during collective cell migration : a numerical investigation 
    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. ...

Browse

All SAMCommunities & CollectionsAuthorsIssue DateCenter / InstitutionThis CollectionAuthorsIssue DateCenter / Institution

Newsletter

Latest newsletterPrevious newsletters

Statistics

Most Popular ItemsStatistics by CountryMost Popular Authors

ÉCOLE NATIONALE SUPERIEURE D'ARTS ET METIERS

  • Contact
  • Mentions légales

ÉCOLE NATIONALE SUPERIEURE D'ARTS ET METIERS

  • Contact
  • Mentions légales