This chapter provides an original method to deal with time uncertainties in nonlinear and differential systems. The simplicity of the method allows us to deal with a wide range of state estimation problems, including time uncertainties. The chapter focuses on the elementary constraint of a trajectory evaluation, allowing us to deal with uncertainties on any of the variables, such as time. This is achieved by means of a new contractor Ceval. In robotics and other engineering applications, this new contractor allows us to consider state estimation problems from a temporal point of view, where the time becomes an unknown variable to be estimated. The chapter proposes a theoretical basis to deal with the former in the most generic way, which is illustrated by reproducible examples in order to highlight the interest and simplicity of the method and encourage further comparisons.
Trajectories Under Evaluation Constraints
Reliable Robot Localization ; 101-128
2019-12-16
28 pages
Article/Chapter (Book)
Electronic Resource
English
Trajectories under Differential Constraints
Wiley | 2019
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