TRAJECTORY MONITORING FOR A DRONE USING INTERVAL ANALYSIS - Unité d'Informatique et d'Ingénierie des Systèmes (U2IS) Access content directly
Conference Papers Year : 2023

TRAJECTORY MONITORING FOR A DRONE USING INTERVAL ANALYSIS

Abstract

When modelizing a robot, uncertainties are bound to be taken into account. Uncertainties may appear because of approximations linked to the model. Sometimes uncertainties are unavoidable as they are linked to the sensors' accuracies, or inherent to the control of the robot. For instance, interval observers could be used for parameter estimation and state estimation. This paper proposes a method to consider all these uncertainties and to monitor the reliance of trajectories using interval analysis. The case study of this article is to monitor the trajectory of a holonomic drone controlled by its velocity, but the monitoring could be extended to more complex dynamic systems.

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Dates and versions

hal-04194830 , version 1 (04-09-2023)

Identifiers

  • HAL Id : hal-04194830 , version 1

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Sylvain Largent, Julien Alexandre Dit Sandretto. TRAJECTORY MONITORING FOR A DRONE USING INTERVAL ANALYSIS. Workshop on Planning, Perception and Navigation for Intelligent Vehicles (PPNIV'22), Philippe Martinet, Oct 2023, Kyoto, Japan. ⟨hal-04194830⟩
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