Proving the Stability of the Rolling Navigation

Auguste Bourgois; Amine Chaabouni; Andreas Rauh; Luc Jaulin

doi:10.14232/actacyb.295941

Proving the Stability of the Rolling Navigation

Auguste Bourgois FORSSEA Robotics, Paris, France https://orcid.org/0000-0002-0333-5872
Amine Chaabouni Ecole Polytechnique, Palaiseau, France
Andreas Rauh Department of Computing Science, University of Oldenburg, Germany https://orcid.org/0000-0002-1548-6547
Luc Jaulin ENSTA-Bretagne, Brest, France https://orcid.org/0000-0002-0938-0615

DOI: https://doi.org/10.14232/actacyb.295941

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

Abstract

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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Published

2023-02-23

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. https://doi.org/10.14232/actacyb.295941

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Issue

Vol 26 No 1 (2023): Special Issue of SCAN 2020

Section

Special Issue of SCAN 2020

This work is licensed under a Creative Commons Attribution 4.0 International License.

Proving the Stability of the Rolling Navigation

Abstract

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