Thick set inversion

Initial localization by set inversion

In this paper, initial localization problems are solved by using set-membership estimation. The method can be used with any robot and any kind of sensor(s), provided that a computable model of the environment/sensor interaction is available. With a pedagogical aim in mind, it is detailed in the case of the localization of a vehicle from range measurements in a polygonal environment. Salient pro...

Hierarchical Bayesian level set inversion

Comparison between thick level set (TLS) and cohesive zone models

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Robust Multivariable Set-point Regulation via Stable Dynamic Inversion

In this paper we propose a design methodology for the robust regulation of uncertain nonminimum-phase multivariable linear systems. The method basically consists of defining a suitable vector of parameterized desired output functions and of designing a parameterized decoupling controller of the nominal plant. Then, a parameterized command function for each input is determined by means of a stab...

Quantified Set Inversion Algorithm with Applications to Control

In this paper, a new algorithm based on Set Inversion techniques and Modal Interval Analysis is presented. This algorithm allows solving problems involving quantified constraints over the reals through the characterization of their solution sets. The presented methodology can be applied over a wide range of problems involving uncertain (non)linear systems. Finally, an advanced application is so...