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Mobile Robotics
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Applied Interval Analysis
At the core of many engineering problems is the solution of sets of equa tions and inequalities, and the optimization of cost functions. Unfortunately, except in special cases, such as when a set of equations is linear in its un knowns or when a convex cost function has to be minimized under convex constraints, the results obtained by conventional numerical methods are only local and cannot be guaranteed. This means, for example, that the actual global minimum of a cost function may not be reached, or that some global minimizers of this cost function may escape detection. By contrast, interval analysis makes it possible to obtain guaranteed approximations of the set of all the actual solutio...
Robotic Sailing 2013
An autonomous sailboat robot is a boat that only uses the wind on its sail as propelling force, without remote control or human assistance to achieve its mission. This involves autonomy in energy (using batteries, solar panels, turbines...), sensor data processing (compass, GPS, wind sensor...), actuators control (rudder and sail angle control...) and decision making (embedded computer with adequate algorithms). Although robotic sailing is a relatively new field of research, several applications exist for this type of robots: oceanographic and hydrographic research, maritime environment monitoring, meteorology, harbor safety, assistance and rescue in dangerous areas... Over the last decade, several events such as the Microtransat challenge, the WRSC/IRSC and SailBot have been set up to stimulate research and development around robotic sailing. These proceedings cover the current and future academic and technology challenges raised by the development of autonomous sailboat robots presented at the WRSC/IRSC (World Robotic Sailing Championship/International Robotic Sailing Conference) 2013, in Brest, France, 2-6 September 2013.
Marine Robotics and Applications
This book reports on findings at the intersection between two related fields, namely coastal hydrography and marine robotics. On one side, it shows how the exploration of the ocean can be performed by autonomous underwater vehicles; on the other side, it shows how some methods from hydrography can be implemented in the localization and navigation of such vehicles, e.g. for target identification or path finding. Partially based on contributions presented at the conference Quantitative Monitoring of Underwater Environment, MOQESM, held on October 11-12, 2016, Brest, France, this book includes carefully revised and extended chapters presented at the conference, together with original papers not related to the event. All in all, it provides readers with a snapshot of current methods for sonar track registration, multi-vehicles control, collective exploration of underwater environments, optimization of propulsion systems, among others. More than that, the book is aimed as source of inspiration and tool to promote further discussions and collaboration between hydrographers, robotic specialists and other related communities.
Reliable Robot Localization
Localization for underwater robots remains a challenging issue. Typical sensors, such as Global Navigation Satellite System (GNSS) receivers, cannot be used under the surface and other inertial systems suffer from a strong integration drift. On top of that, the seabed is generally uniform and unstructured, making it difficult to apply Simultaneous Localization and Mapping (SLAM) methods to perform localization. Reliable Robot Localization presents an innovative new method which can be characterized as a raw-data SLAM approach. It differs from extant methods by considering time as a standard variable to be estimated, thus raising new opportunities for state estimation, so far underexploited. ...
Principles and Practice of Constraint Programming - CP 2006
This book constitutes the refereed proceedings of the 12th International Conference on Principles and Practice of Constraint Programming, CP 2006, held in Nantes, France in September 2006. The 42 revised full papers and 21 revised short papers presented together with extended abstracts of four invited talks were carefully reviewed and selected from 142 submissions. All current issues of computing with constraints are addressed.
Scientific Computing, Validated Numerics, Interval Methods
Scan 2000, the GAMM - IMACS International Symposium on Scientific Computing, Computer Arithmetic, and Validated Numerics and Interval 2000, the International Conference on Interval Methods in Science and Engineering were jointly held in Karlsruhe, September 19-22, 2000. The joint conference continued the series of 7 previous Scan-symposia under the joint sponsorship of GAMM and IMACS. These conferences have traditionally covered the numerical and algorithmic aspects of scientific computing, with a strong emphasis on validation and verification of computed results as well as on arithmetic, programming, and algorithmic tools for this purpose. The conference further continued the series of 4 fo...
Global Optimization and Constraint Satisfaction
This book constitutes the throughly refereed post-proceedings of the Second International Workshop on Global Optimization and Constraint Satisfaction, COCOS 2003, held in Lausanne, Switzerland in Nowember 2003. The 13 revised full papers presented were carefully selected and went through two rounds of reviewing and improvement. The papers are devoted to theoretical, algorithmic, and application-oriented issues in global constrained optimization and constraint satisfaction; they are organized in topical sections on constraint satisfaction problems, global optimization, and applications.
Robotic Sailing 2014
An autonomous sailboat robot is a boat that only uses the wind on its sail as the propelling force, without remote control or human assistance to achieve its mission. Robotic sailing offers the potential of long range and long term autonomous wind propelled, solar or wave-powered carbon neutral devices. Robotic sailing devices could contribute to monitoring of environmental, ecological, meteorological, hydrographic and oceanographic data. These devices can also be used in traffic monitoring, border surveillance, security, assistance and rescue. The dependency on changing winds and sea conditions presents a considerable challenge for short and long term route and stability planning, collision...
