The Codac Library:

Simon Rohou; Benoît Desrochers; Fabrice Le Bars

doi:10.14232/actacyb.302772

Simon Rohou ENSTA Bretagne, Lab-STICC, UMR CNRS 6285, Brest, France https://orcid.org/0000-0001-6232-9918
Benoît Desrochers ENSTA Bretagne, Lab-STICC, UMR CNRS 6285, Brest, France https://orcid.org/0000-0001-7910-1119
Fabrice Le Bars ENSTA Bretagne, Lab-STICC, UMR CNRS 6285, Brest, France https://orcid.org/0000-0001-9413-4621

DOI: https://doi.org/10.14232/actacyb.302772

Keywords: constraint programming, interval analysis, state estimation, dynamical systems, solver, robotics, Contractor Network, SLAM

Abstract

Codac (Catalog Of Domains And Contractors) is a C++/Python library providing tools for constraint programming over reals, trajectories and sets. It has many applications in parameter estimation, guaranteed integration or robot localization and provides reliable outputs by computing sets of feasible solutions according to the constraints defining the problem. This paper provides a brief overview of the library and its Contractor Network approach, illustrated on a convincing robotic application.

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The Codac Library

A Catalog of Domains and Contractors

Abstract

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