An Interval Approach for Stability Analysis: Application to Sailboat Robotics

@article{Jaulin2013AnIA,
  title={An Interval Approach for Stability Analysis: Application to Sailboat Robotics},
  author={Luc Jaulin and Fabrice Le Bars},
  journal={IEEE Transactions on Robotics},
  year={2013},
  volume={29},
  pages={282-287}
}
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… 

Tight slalom control for sailboat robots

TLDR
A feedback-linearization based method combined with a vector field approach to control the sailboat and some simulations show that the robot is able to perform the slalom without missing any gate.

A Simple Controller for Line Following of Sailboats

TLDR
A simple controller for sailboat robots which follows a line and its complexity is low enough to be applicable for sailing robots with very limited computation power.

An Online Interval-Based Inertial Navigation System for Control Purposes of Autonomous Boats

TLDR
This paper proposes to implement an interval-based INS (Inertial Navigation System) in an actual robot to estimate its orientation and position, and shows that some types of outliers can be naturally handled by the fusion algorithm, while the resulting controller can be both fast and reliable.

An Experimental Validation of a Robust Controller with the VAIMOS Autonomous Sailboat

TLDR
The functionality, the validation process and the performance of a simple controller, inspired by what navigators do, is described, through tests made on the sailboat robot VAIMOS built by IFREMER for oceanography.

Line following for an autonomous sailboat using potential fields method

TLDR
This paper presents a new repulsive potential with a speed-dependent component that is presented in order to get smoother obstacle avoidance trajectories in an autonomous sailboat robot.

Optimal sail angle computation for an autonomous sailboat robot

A method to compute the optimal sail angle for an autonomous sailboat is proposed, which allows for maximizing the longitudinal velocity while maintaining safe sailing conditions by limiting the roll

High speed viability navigation control for wheeled robot

While the importance of wheeled robots is well recognized, the control of these systems need to be further investigated, because the current navigating methods of wheeled robots are difficult to

VAIMOS : Realization of an autonomous robotic sailboat

This paper demonstrates the relevance of using autonomous sailboats for the realization of long missions (several weeks) devoted to collecting measurements and observation of the marine environment

Speed Optimization Control for Wheeled Robot Navigation with Obstacle Avoidance Based on Viability Theory

TLDR
This simulation shows that viability theory can precisely describe the link between robotic dynamics and the obstacle, and thus can help the robot to achieve radical high speed navigation in an unknown environment.

Online optimization of different objectives in robotic sailing: Simulations and experiments

This paper investigates online optimization for the different objectives found in robotics sailing such as sailing angle optimization, but also the so-called Velocity-Made-Good, as well as heel angle

References

SHOWING 1-10 OF 60 REFERENCES

Reactive path planning for autonomous sailboat

TLDR
A new reactive path planning method is proposed, which takes into account the so called no-go zones and turns them into virtual obstacles and is suitable for on-board real-time implementation.

Guaranteed tuning, with application to robust control and motion planning

Nonholonomic navigation and control of cooperating mobile manipulators

This paper presents the first motion planning methodology applicable to articulated, nonpoint nonholonomic robots with guaranteed collision avoidance and convergence properties. It is based on a new

Motion planning of cooperative nonholonomic mobile manipulators

  • J. AlbaricR. Zapata
  • Computer Science
    IEEE International Conference on Systems, Man and Cybernetics
  • 2002
TLDR
A leader-follower architecture for implementing robot coordination and a control algorithm for motion planning and force control is proposed and the formulation of the DVZ principle is given and an extension to the mobile manipulator tasks is detailed.

Multiple cooperating mobile manipulators

  • T. SugarVijay R. Kumar
  • Computer Science
    Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)
  • 1999
The main goal of the paper is to present a framework and basic control algorithms for coordinating a small team of robots in tasks that involve grasping large objects and transporting them in a

Dynamic modeling of closed-chain robotic manipulators and implications for trajectory control

TLDR
A simple, physically insightful method for dynamic modeling of manipulators containing closed kinematic chains is presented, founded on D'Alembert's principle, that fosters straightforward extensions of serial robot engineering activities in the areas of digital simulation, real-time control, parameter identification, and optimal path planning to closed-chain manipulators.

Application of ellipsoidal estimation to satellite control design

The equations of motion of a small satellite moving along a prescribed trajectory under disturbances are analysed. Problems of this kind have been extensively investigated. The corresponding

Application of ellipsoidal estimation to satellite control

The equations of motion of a small satellite moving along a prescribed trajectory under disturbances are analysed. Problems of this kind have been extensively investigated. The corresponding

Control of Force Distribution in Robotic Mechanisms Containing Closed Kinematic Chains

Control of the force distribution in locomotion and manipulation systems containing closed kinematic chains is an important problem since many tasks such as walking or grasping depend upon it. The
...