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Estimating the Trajectory of Low-Cost Autonomous Robots Using Interval Analysis: Application to the euRathlon Competition

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Marine Robotics and Applications

Part of the book series: Ocean Engineering & Oceanography ((OEO,volume 10))

Abstract

In this paper, we describe a method based on interval arithmetic and contractors to compute an envelope containing the trajectory of a robot from usual proprioceptive and exteroceptive data, using a simple state equation model. To illustrate the applicability of the method, data from the euRathlon 2015, a multi-domain robotics competition, will be processed to build an estimation of the trajectory of a low-cost AUV (Autonomous Underwater Vehicle), navigating with the help of acoustic communication and ranging with an ASV (Autonomous Surface Vehicle).

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Author information

Authors and Affiliations

  1. ENSTA Bretagne (Ecole Nationale Supérieure de Techniques Avancées Bretagne), Lab-STICC/CID/PRASYS, 2 rue François Verny, 29806, Brest Cédex 09, France

    Fabrice Le Bars & Luc Jaulin

  2. CINVESTAV (Center for Research and Advanced Studies of the National Polytechnic Institute), UMI LAFMIA CNRS 3175, 2508, Mexico City, D.F., Mexico

    Elba Antonio, Jorge Cervantes & Carlos De La Cruz

Authors
  1. Fabrice Le Bars
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  2. Elba Antonio
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  3. Jorge Cervantes
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  4. Carlos De La Cruz
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  5. Luc Jaulin
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Corresponding author

Correspondence to Fabrice Le Bars .

Editor information

Editors and Affiliations

  1. LABSTICC, ENSTA Bretagne, Brest, France

    Luc Jaulin

  2. Department of Information Engineering, Centro di Ricerca Enrico Piaggio, University of Pisa, Pisa, Italy

    Andrea Caiti

  3. Escola Politècnica Superior (UdG), Edifi, Computer Vision and Robotics Institute, University of Girona, Girona, Spain

    Marc Carreras

  4. Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier (LIRMM), Montpellier, France

    Vincent Creuze

  5. ISIR, University Pierre and Marie Curie, Paris, France

    Frédéric Plumet

  6. Ocean Sensing and Mapping, ENSTA Bretagne, Brest, France

    Benoît Zerr

  7. Lab-STICC, ENSTA Bretagne, Brest, France

    Annick Billon-Coat

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Le Bars, F., Antonio, E., Cervantes, J., De La Cruz, C., Jaulin, L. (2018). Estimating the Trajectory of Low-Cost Autonomous Robots Using Interval Analysis: Application to the euRathlon Competition. In: Jaulin, L., et al. Marine Robotics and Applications. Ocean Engineering & Oceanography, vol 10. Springer, Cham. https://doi.org/10.1007/978-3-319-70724-2_4

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  • DOI: https://doi.org/10.1007/978-3-319-70724-2_4

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-70723-5

  • Online ISBN: 978-3-319-70724-2

  • eBook Packages: EngineeringEngineering (R0)

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