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An interval approach for stability analysis: Application to sailboat robotics

Luc Jaulin 1, 2 Fabrice Le Bars 1, 2
1 Lab-STICC_ENSTAB_CID_IHSEV
Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
2 Pôle STIC_OSM
ENSTA Bretagne - École Nationale Supérieure de Techniques Avancées Bretagne
Abstract : Abstract--This paper 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, there exists a safe subset of the state space such that the system cannot escape. The methodology is illustrated on the line following problem of a sailboat and then validated on an actual experiment where an actual sailboat robot, named Vaimos, sails autonomously from Brest to Douarnenez (more than 100 km).
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https://hal-ensta-bretagne.archives-ouvertes.fr/hal-00738788
Contributor : Annick Billon-Coat <>
Submitted on : Friday, October 5, 2012 - 10:25:41 AM
Last modification on : Wednesday, August 5, 2020 - 3:43:02 AM

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Luc Jaulin, Fabrice Le Bars. An interval approach for stability analysis: Application to sailboat robotics. IEEE Transactions on Robotics, IEEE, 2012, 29 (1), pp.282-287. ⟨10.1109/TRO.2012.2217794⟩. ⟨hal-00738788⟩

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