BSplines properties with Interval Analysis for Constraint Satisfaction Problem: Application in robotics
Autor: | Rawan Kalawoun, François Bouchon, Sebastien Lengagne, Youcef Mezouar |
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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: |
Convex hull
0209 industrial biotechnology Mathematical optimization Kronecker product Computer science Robot Stability (learning theory) 02 engineering and technology Workspace 01 natural sciences Interval arithmetic BSplines [SPI.AUTO]Engineering Sciences [physics]/Automatic symbols.namesake 020901 industrial engineering & automation Reachability Interval analysis Constraint satisfaction problem ComputingMilieux_MISCELLANEOUS business.industry 010401 analytical chemistry Robotics Feasible workspace 0104 chemical sciences Pessimism symbols Artificial intelligence Constraint Satisfaction Problem business |
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 |
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