Eiffel: the language
Set inversion via interval analysis for nonlinear bounded-error estimation
Automatica (Journal of IFAC) - Special section on fault detection, supervision and safety for technical processes
Propagation of Roundoff Errors in Finite Precision Computations: A Semantics Approach
ESOP '02 Proceedings of the 11th European Symposium on Programming Languages and Systems
Static Analysis of the Numerical Stability of Loops
SAS '02 Proceedings of the 9th International Symposium on Static Analysis
Methods and Applications of Interval Analysis (SIAM Studies in Applied and Numerical Mathematics) (Siam Studies in Applied Mathematics, 2.)
Brief Paper: Box particle filtering for nonlinear state estimation using interval analysis
Automatica (Journal of IFAC)
The pitfalls of verifying floating-point computations
ACM Transactions on Programming Languages and Systems (TOPLAS)
Action evaluation for mobile robot global localization in cooperative environments
Robotics and Autonomous Systems
Program transformation for numerical precision
Proceedings of the 2009 ACM SIGPLAN workshop on Partial evaluation and program manipulation
Brief paper: Robust set-membership state estimation; application to underwater robotics
Automatica (Journal of IFAC)
Consistent outdoor vehicle localization by bounded-error state estimation
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Static analysis of finite precision computations
VMCAI'11 Proceedings of the 12th international conference on Verification, model checking, and abstract interpretation
Guaranteed robust nonlinear estimation with application to robot localization
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
Sensor network based localization algorithm using fusion sensor-agent for indoor service robot
IEEE Transactions on Consumer Electronics
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This work is about solving the global localization issue for mobile robots operating in large and cooperative environments. It tackles the problem of estimating the pose of a robot in the environment using real-time data either from the robot on-board sensors or/and from the sensors in the environment or/and the real-time data coming from other robots. The paper focuses on the 3-DOF localization of a mobile robot that is to say the estimation of the robot coordinates (x"m"r, y"m"r, @q"m"r) in a 2D-environment. The interest of this method lies on the ability to easily integrate a large variety of sensors, from the roughest to the most complex one. The method takes into account the following constraints: a flexible number of measurements, generic goniometric measurements, a statistical knowledge on the measurements limited to the tolerance, and the fact the measurements are acquired both from the robot onboard sensors and the environment sensors. The approach is able to integrate a heterogeneous set of measurements; not only generic goniometric measurements but also range, position given by a tactile tile, complex shape, and dead reckoning measurements. The way that outliers and environment model inaccuracies can be taken into account is described. The problem of nonlinear bounded-error estimation is viewed as a set inversion. The paper presents the theoretical formulation of the localization method in a bounded-error context and the parameter estimation based on interval analysis. Simulation results as well as real experiments show the interest of the method in a cooperative environment context.