January 2020
Intermediate to advanced
284 pages
6h 9m
English
book
Reliable Robot Localization
by Simon Rohou, Luc Jaulin, Lyudmila Mihaylova, Fabrice Le Bars, Sandor M. Veres
Content preview from Reliable Robot Localization
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PART 2Constraints-related Contributions
Introduction to Part 2
In order to fully expand the contractor programming approach to dynamical systems, new constraints need to be studied. The aim of this second part is to focus on two elementary constraints related to differential equations. The proposed contractors will then be applied in Part 3 for specific robotic problems involving time uncertainties.
In this chapter the novelty is twofold, we propose a new tube contractor to temporally propagate information both forward and backward in time, which leads to considering a differential constraint 
Another contractor is provided in Chapter 4 in order to evaluate a tube based on the constraint z = y(t), which leads to considering time uncertainties.
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