Séminaire de l'équipe DISCO :

Reliable control using interval analysis. Application to sailboat robotics

Le 25 Avril 2012 à 09h30

Intervenant

Luc Jaulin
ENSTA-Bretagne, LabSticc

E-mail : luc.jaulin@ensta-bretagne.fr

Lieu

LAAS-CNRS - Salle de Conférences

7 avenue du Colonel Roche

31077 TOULOUSE Cedex 4

Résumé

This talk proposes an interval based method for the validation of reliable and robust navigation rules for mobile robots. The main idea is to show that for all feasible perturbations, (i) there exists a safe subset A of the state such that the robot cannot escape as soon as it enters in it and (ii) if the robot is outside A, it cannot stay outside A forever. The methodology will be illustrated on the line following problem of a sailboat robot. A validation on actual experiment made on January 2012 is presented. In this experiment the sailboat robot, named Vaimos, has gone autonomously from Brest to Douarnenez (around 100 km). More details on the experiment can be found at http://www.ensta-bretagne.fr/jaulin/vaimosdouarn.html 

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