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—In this paper, initial localization problems are solved by using set-membership estimation. The method can be used with any robot and any kind of sensor(s), provided that a computable model of the environ-ment/sensor interaction is available. With a pedagogical aim in mind, it is detailed in the case of the localization of a vehicle from range measurements(More)
A localization system using GPS, ABS sensors and a driving wheel encoder is described and tested through real experiments. A new odometric technique using the four ABS sensors is presented. Due to the redundancy of the measurements, the precision is better than the one of differential odometry using the rear wheels only. The sampling is performed when(More)
—When reliable prior bounds on the acceptable errors between the data and corresponding model outputs are available, bounded-error estimation techniques make it possible to characterize the set of all acceptable parameter vectors in a guaranteed way, even when the model is nonlinear and the number of data points small. However, when the data may contain(More)
Reliable GPS positioning in city environment is a key issue: actually, signals are prone to multipath, with poor satellite geometry in many streets. Using a 3D urban model to forecast satellite visibility in urban contexts in order to improve GPS localization is the main topic of the present article. A virtual image processing that detects and eliminates(More)
This paper compares four observers of vehicle sideslip angle. The first is linear and uses a linear vehicle model. Next observers use an extended nonlinear model. The three non-linear observers are: extended Luenberger observer, extended Kalman filter and sliding mode observer. Modelling and model simplification are described, and an observability analysis(More)
Characterizing the set of all parameter vectors such that their image by a vector function belongs to a given set is a set-inversion problem. The algorithm SIVIA (Set Inversion Via Interval Analysis) makes it possible to perform this task in an approximate but guaranteed way. In the examples treated so far, the function to be inverted was given either(More)