BSplines properties with Interval Analysis for Constraint Satisfaction Problem: Application in robotics

Autor: Rawan Kalawoun, François Bouchon, Sebastien Lengagne, Youcef Mezouar
Přispěvatelé: Institut Pascal (IP), SIGMA Clermont (SIGMA Clermont)-Université Clermont Auvergne [2017-2020] (UCA [2017-2020])-Centre National de la Recherche Scientifique (CNRS), Laboratoire de Mathématiques Blaise Pascal (LMBP), Université Clermont Auvergne [2017-2020] (UCA [2017-2020])-Centre National de la Recherche Scientifique (CNRS), SIGMA Clermont (SIGMA Clermont)-Centre National de la Recherche Scientifique (CNRS)-Université Clermont Auvergne [2017-2020] (UCA [2017-2020])
Jazyk: angličtina
Rok vydání: 2018
Předmět:
Zdroj: Advances in Intelligent Systems and Computing
15th International Conference on Intelligent Autonomous Systems IAS-15
15th International Conference on Intelligent Autonomous Systems IAS-15, Jun 2018, Baden-Baden, Germany. pp.490-453, ⟨10.1007/978-3-030-01370-7_39⟩
Acoustics Research Letters
Acoustics Research Letters Online, Acoustical Society of America, 2018
Intelligent Autonomous Systems 15 ISBN: 9783030013691
IAS
ISSN: 1529-7853
DOI: 10.1007/978-3-030-01370-7_39⟩
Popis: International audience; Interval Analysis is a mathematical tool that could be used to solve Constraint Satisfaction Problem. It guarantees solutions, and deals with uncertainties. However, Interval Analysis suffers from an overestimation of the solutions, i.e. the pessimism. In this paper, we initiate a new method to reduce the pessimism based on the convex hull properties of BSplines and the Kronecker product. To assess our method, we compute the feasible workspace of a 2D manipulator taking into account joint limits, stability and reachability constraints: a classical Constraint Satisfaction Problem in robotics.
Databáze: OpenAIRE