This chapter extends the constraint programming approach to differential constraint networks. It considers trajectories as variables and implements contractors to reduce their domains, based on constraints that can be algebraic or differential. The chapter aims to introduce these new tools and explains how algebraic constraints can be applied on sets of trajectories. This material is sufficient to address a dead‐reckoning problem for illustration purposes. Sets of trajectories are approximated by means of tubes. The chapter provides details about the choices the authors made while developing an open source library for tube programming. Although a tube may not only contain feasible trajectories, it can be used so that trajectories outside the tube are not compliant with the considered constraints. Hence, tubes can be used to reject a path. An approach could then reduce the computational burden of path‐planning algorithms, preventing from wrong path proposals especially in the case of strong uncertainties or nonlinearities.


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    Title :

    Constraints Over Sets of Trajectories


    Contributors:

    Published in:

    Publication date :

    2019-12-16


    Size :

    23 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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