Simon Rohou
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View article: Offline and Online Use of Interval and Set-Based Approaches for Control and State Estimation: A Selection of Methodological Approaches and Their Application
Offline and Online Use of Interval and Set-Based Approaches for Control and State Estimation: A Selection of Methodological Approaches and Their Application Open
Control and state estimation procedures need to be robust against imprecisely known parameters, uncertainty in initial conditions, and external disturbances. Interval methods and other set-based techniques form the basis for the implementa…
View article: Natural efficient gaits from Nonholonomic Locomotion Nonlinear Normal Mode (NL-NNM): The Pendrivencar case
Natural efficient gaits from Nonholonomic Locomotion Nonlinear Normal Mode (NL-NNM): The Pendrivencar case Open
International audience
View article: The Codac Library
The Codac Library Open
Codac (Catalog Of Domains And Contractors) is a C++/Python library providing tools for constraint programming over reals, trajectories and sets. It has many applications in parameter estimation, guaranteed integration or robot localization…
View article: Offline and Online Use of Interval and Set-Based Approaches for Control and State Estimation: A Selection of Methodological Approaches and Their Application
Offline and Online Use of Interval and Set-Based Approaches for Control and State Estimation: A Selection of Methodological Approaches and Their Application Open
Control and state estimation procedures need to be robust against imprecisely known parameters, uncertainty in initial conditions, and external disturbances. Interval methods and other set-based techniques form the basis for the implementa…
View article: Brunovsky Decomposition for Dynamic Interval Localization
Brunovsky Decomposition for Dynamic Interval Localization Open
International audience
View article: Experimental Validation of an Ellipsoidal State Estimation Procedure for a Magnetic Levitation System
Experimental Validation of an Ellipsoidal State Estimation Procedure for a Magnetic Levitation System Open
International audience
View article: Proving Feasibility of a Docking Mission: A Contractor Programming Approach
Proving Feasibility of a Docking Mission: A Contractor Programming Approach Open
Recent advances in computational power, algorithms, and sensors allow robots to perform complex and dangerous tasks, such as autonomous missions in space or underwater. Given the high operational costs, simulations are run beforehand to pr…
View article: An Ellipsoidal Predictor–Corrector State Estimation Scheme for Linear Continuous-Time Systems With Bounded Parameters and Bounded Measurement Errors
An Ellipsoidal Predictor–Corrector State Estimation Scheme for Linear Continuous-Time Systems With Bounded Parameters and Bounded Measurement Errors Open
For linear time-invariant dynamic systems with exactly known coefficients of their system matrices for which measurements with bounded errors are available at discrete time instants, an optimal polygonal state estimation scheme was recentl…
View article: An Online Interval-Based Inertial Navigation System for Control Purposes of Autonomous Boats
An Online Interval-Based Inertial Navigation System for Control Purposes of Autonomous Boats Open
Interval analysis is a numerical tool classically used for solving nonlinear equations in a guaranteed way. It has been shown that it can be used to build reliable nonlinear state estimators for dynamical systems. Numerous simulations insp…
View article: Prouver l'existence de boucles dans des trajectoires de robots
Prouver l'existence de boucles dans des trajectoires de robots Open
This paper presents a reliable method to verify the existence of loops along the uncertain trajectory of a robot, based on proprioceptive measurements only, within a bounded-error context. The loop closure detection is one of the key point…
View article: Set-membership state estimation by solving data association
Set-membership state estimation by solving data association Open
International audience
View article: Proving the existence of loops in robot trajectories
Proving the existence of loops in robot trajectories Open
In this paper we present a reliable method to verify the existence of loops along the uncertain trajectory of a robot, based on proprioceptive measurements only, within a bounded-error context. The loop closure detection is one of the key …
View article: Localisation fiable de robots : une approche de programmation par contraintes sur des systèmes dynamiques
Localisation fiable de robots : une approche de programmation par contraintes sur des systèmes dynamiques Open
The localization of underwater robots remains a challenging issue. Usual sensors, such as Global Navigation Satellite System (GNSS) receivers, cannot be used under the surface and other inertial systems suffer from a strong integration dri…