Using interval arithmetic to prove that a set is path-connected
Theoretical Computer Science - Real numbers and computers
Incremental construction of the robot's environmental map using interval analysis
COCOS'03 Proceedings of the Second international conference on Global Optimization and Constraint Satisfaction
Automatica (Journal of IFAC)
Constraints propagation techniques on intervals for a guaranteed localization using redundant data
Automatica (Journal of IFAC)
Set-membership localization with probabilistic errors
Robotics and Autonomous Systems
Guaranteed mobile robot tracking using robust interval constraint propagation
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part II
Mobile robot localization by multiangulation using set inversion
Robotics and Autonomous Systems
Mobile robot localization by multiangulation using set inversion
Robotics and Autonomous Systems
State estimation for Markovian Jump Linear Systems with bounded disturbances
Automatica (Journal of IFAC)
Guaranteed characterization of exact non-asymptotic confidence regions as defined by LSCR and SPS
Automatica (Journal of IFAC)
Hi-index | 22.15 |
This paper proposes a new observer for estimating the state vector of a nonlinear system. This observer, which is robust with respect to outliers, assumes that the measurement errors, as well as the number of outliers that could occur within a given time window, are bounded. The principle of the approach is to use interval analysis to deal properly with the nonlinearities involved in the system (without any linearization or approximation) and to propagate through the time, in a forward and backward manner, the assumptions made about outliers. A test case related to the localization and control of an underwater robot is also proposed to illustrate the efficiency of the approach.