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Interval analysis for guaranteed and robust nonlinear estimation in robotics

Abstract : One of the challenges of interval analysis is to explore and bridge the gap between trivial illustrative examples for which it is not really needed and actual complicated applications for which it is still powerless. Two examples of applications pertaining to this gap are presented in this paper. The first one corresponds to the forward kinematic problem for a Stewart-Gough patform, a benchmark for numerical and symbolical computations. All real solutions are isolated in a guaranteed manner. The second example is relative to the localization and tracking of a vehicle in a unavoidable presence of outliers is taken into account, which makes the method acyually applicable. None of these problems can be solved satisfactorily by the usual local numerical methods based on iterative refinements, and the advantages provided by an approach based on interval analysis are evidenced.
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Submitted on : Tuesday, July 16, 2013 - 3:58:24 PM
Last modification on : Saturday, April 25, 2020 - 4:16:09 PM
Document(s) archivé(s) le : Thursday, October 17, 2013 - 4:17:56 AM


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  • HAL Id : hal-00845193, version 1


Eric Walter, Luc Jaulin, Michel Kieffer. Interval analysis for guaranteed and robust nonlinear estimation in robotics. Nonlinear Analysis: Theory, Methods and Applications, Elsevier, 2001, 47, pp.191-202. ⟨hal-00845193⟩



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