Date et Lieu
Mardi 5 Février 2019 — LIX, Ecole Polytechnique, Palaiseau
Salle: Grace Hopper
9h00 – Accueil Café
9h30 – Eric Goubault
Présentation du projet.
10h00 – Luc Jaulin
Characterizing discontinuities of an hybrid system
When implementing a non-continuous controller in a physical system, it may happen that the evolution function of the closed-loop system is not anymore piecewise continuous along the trajectory. As a consequence, an unwanted chattering effect may occur. We propose here a set-membership method based on interval analysis to detect different types of discontinuities. As an application, we consider the validation of a sailboat controller. We show that our approach is able to detect and explain some unwanted effects that may sometimes be observed in rare specific situations on our actual sailboat robots.
10h45 – Alexandre Chapoutot
Studying Sequences of Jumps in Hybrid Systems to Detect Zeno Phenomenon
We propose a numerical analysis of sequences of points of interest associated to the dynamics of hybrid systems. These sequences are made of instants of switching mode or instants when a particular quantity vanishes. This analysis allows one to discover instant of accumulation points, a.k.a. Zeno phenomenon. Some examples are given to show the potential of this approach.
11h20 – Thoma Le Mézo
Floats – underwater robots that can regulate there depth – are widely used in oceanography. They are equipped with instruments such as temperature, pressure or conductivity sensors. By carrying out profiles of the ocean up to 6000 meters, they help to a better understanding of the ocean and provide crucial data for models. A “good” regulation of such robots is a key challenge as they need to operate for a long period of time with a low energy consumption context. Furthermore, new applications requires now an accurate depth regulation to follow what oceanographer called internal waves. We will propose a regulator for such robots and will look at the issue of its validation.
12h00 – Repas Club Magnan
14h00 – Pierre-Loïc Garoche
Convex MPC trajectory planning — Verification issues
In this talk we will present the basic principles behind the design of a convex MPC used to build suitable trajectories online. We will then try to enumerate the issues and verification concerns at each stage of the algorithm and the current available results.
[slides] -> links to the videos: agressive maneuvring [Acikmese, B. et al] and Falcon Heavy landing [Blackmore, L.: Autonomous precision landing of space rockets.]
14h45 – Eric Goubault
Some perspectives in offline and online validation of temporal properties on crazyflies 2.0.
15h30 – Discussion
16h30 – Fin