An Interval Approach for Stability Analysis: Application to Sailboat Robotics

  title={An Interval Approach for Stability Analysis: Application to Sailboat Robotics},
  author={Luc Jaulin and Fabrice Le Bars},
  journal={IEEE Transactions on Robotics},
This paper proposes an interval-based method for the validation of reliable and robust navigation rules for mobile robots. The main idea is to show that for all feasible perturbations, there exists a safe subset of the state space such that the system cannot escape. The methodology is illustrated on the line-following problem of a sailboat and then validated on an actual experiment where an actual sailboat robot, which is named Vaimos, sails autonomously from Brest to Douarnenez (i.e., more… 

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    IEEE International Conference on Systems, Man and Cybernetics
  • 2002
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