Amphi Sophie Germain, Batiment Turing. Le 18 avril à partir de 12:00, et 19 avril jusqu’à 14:30.
Les repas du midi (plateaux repas les 18 et 19 avril) seront pris au deuxième étage, proche des bureaux Cosynus
Les pauses café auront lieu devant l'amphi Sophie Germain.
Le social event est au Zeyer, à 20h.
Mardi 18 avril
12:00pm-13:30pm déjeuner
1:30pm-2:15pm Luc Jaulin, « A contractor which is minimal for narrow boxes »
Centered form is one of the most fundamental brick in interval analysis. It is traditionally used to enclose the range of a function over narrow intervals. The quadratic approximation property guarantees an asymptotically small overestimation for sufficiently narrow boxes. In this presentation, I will propose to use the centered form to build efficient contractors that are optimal when the intervals are narrow. The method is based on the centered form combined with a Gauss Jordan band diagonalization preconditioning.
2:30pm-3:15pm Maria Costa, « Characterization of the Area Explored by a Line-Sweep Sensor on the Plane »
Abstract : We are interested in characterizing the area explored by a mobile robot during an area-covering mission. The main objective of these missions is to develop a complete understanding of the situation or to identify potential threats or opportunities in a designated part of the environment that must be thoroughly searched or monitored. With this purpose, the concept of coverage measure of the environment and its relation to the topological degree in the plane has been introduced in previous work. For this relation to be valid some conditions have to be met and in this work, we adapt the method for dealing with more general scenarios. Notably, we ease the limitations imposed on the direction in which the environment is swept by the robot's exteroceptive sensors. In addition, we extend the approach to uncertain coverage measure values using interval analysis. This last contribution allows for a guaranteed characterization of the explored area, essential considering the often critical character of area covering missions, for example, bomb disposal, firefighting, and search and rescue operations.
3:30pm-4:30pm Simon Rohou, « Brunovsky decomposition for dynamic interval localization »
We will present a new set-membership method for estimating the trajectories of dynamical systems, when the states are completely unknown and only non-linear observations are available. The first part of the proposed method is symbolic and follows the decomposition of Brunovsky, i.e., it decomposes the set of differential equations describing the dynamical system into two blocks of constraints: one block gathers non-linear analytical equations that do not involve differential operators, while the other block is composed of linear chains of integrators. The second part of the method, that relies on the symbolic decomposition, is numerical and based on a contractor approach. It involves a specific optimal operator for narrowing the sets of feasible solutions, already presented in a previous FARO seminar. This approach will be shown to be efficient on a difficult problem of dynamic localization of a mobile robot, without any prior knowledge about its states.
Mercredi 19 avril
9:30am-10:15am Morgan Louedec, « Calcul englobant de l’image ellipsoïdale dans le cas singulier »
Plusieurs méthodes ensemblistes analysant des systèmes d’états utilisent des propagations d’ellipsoïdes via des applications non-linéaires. Des travaux récents ont proposé un algorithme évaluant l’image d’une ellipsoïde par une application non-linéaire, à l’aide d’une ellipsoïde englobant l'image de la première. Cette méthode suppose que la matrice jacobienne de l’application est inversible au point d’équilibre, or il existe un variété de systèmes dont la matrice jacobienne est non-inversible où cette hypothèse n'est pas vérifiée. Cette présentation propose une extension de la méthode dans les cas singuliers où la matrice jacobienne est non-inversible, afin d'obtenir une méthode générale.
10:30am-11:15am Mathilde Jeannin, « Missions d'exploration multirobots décentralisée garantie »
L'objectif de cette présentation est de donner quelques pistes de travail sur une manière d'explorer un environnement inconnu avec une flotte de robots décentralisée. Pour cela nous allons présenter une méthode de planification probabibiliste basée sur les Monte Carlo Tree Search (MCTS), ainsi qu'une version décentralisée. Un MCTS est une méthode heuristique de recherche de décision optimale. Nous chercherons, à partir de cet algorithme, d'obtenir des solutions réalistes et robustes face aux différentes classes de situations et de missions d'exploration.
11:30am-12:15am break
10:40am-11:20am Bernardo Hummes Flores, « Ideas for manufacturing consensus in distributed robotics »
Tasks such as state estimation and formation control are some of the main requirements of any robotic application, with greatly increased complexity in distributed scenarios. The coordination of multiple decentralised robots with limited communication requires a balance between precision and computational cost to attain feasibility. This presentation will frame those requirements as consensus problems and discuss some of the considerations when developing solutions for them, from static to continuous contexts. Some work in progress ideas on how to find those algorithms will then be presented, connecting topological arguments to the communication model of the robotic task.
12:30am-1:30pm déjeuner
1:30pm-2:30pm Goubault, Pautet, Jaulin, Masson. Réunion de travail