This article depicts an algorithm which matches the output of a Lidar with an initial terrain model to estimate the absolute pose of a robot. Initial models do not perfectly fit the reality and the… (More)

This papers shows that using separators, which is a pair of two complementary contractors, we can easily and efficiently solve the localization problem of a robot with sonar measurements in an… (More)

This technical note deals with the guaranteed characterization of the part of the space that has been explored by a robot. The main difficulty of the problem is to take into account the uncertainty… (More)

This paper deals with the set inversion problem X = f−1(Y) in the case where the function f : R → R and the set Y are both uncertain. The uncertainty is treated under the form of intervals. More… (More)

Contractor algebra is a numerical tool based on interval analysis which makes it possible to solve many nonlinear problems arising in robotics, such as identification, path planning or robust… (More)

Contractor programming relies on a catalog on elementary contractors which need to be as efficient as possible. In this paper, we introduce a new theorem that can be used to build minimal contractors… (More)

Although it has been widely assumed that mammals with frontally placed eyes have stereoscopic vision, there is actually a paucity of supporting evidence. We have measured monocular and binocular… (More)