Proving the Stability of the Rolling Navigation

Keywords: hybrid systems, stability, Poincaré section, interval analysis


In this paper, we propose to study the stability of a navigation method that allows a robot to move in an unstructured environment without compass by measuring a scalar function ϕ which only depends on the position. The principle is to ask the robot to roll along an isovalue of ϕ . Using an interval method, we prove the stability of our closed loop system in the special case where ϕ is linear.


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How to Cite
Bourgois, A., Chaabouni, A., Rauh, A., & Jaulin, L. (2023). Proving the Stability of the Rolling Navigation. Acta Cybernetica, 26(1), 5-34.
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