Description
Date depot: 6 avril 2020
Titre: Singularity analysis of vision-based controllers
Directeur de thèse:
Mohab SAFEY EL DIN (LIP6)
Encadrant :
Sébastien BRIOT (LS2N)
Domaine scientifique: Sciences et technologies de l'information et de la communication
Thématique CNRS : Non defini
Resumé:
Vision and sensor-based controllers play an important role in robotics. However, to use them in a better way or in critical applications, one needs to understand their singularities, which means determine the singularity cases, and ultimately perform stability analysis. These problems boil down to solve polynomial systems of equations and inequaltiies. The goal of this PhD is to use and develop computer algebra algorithms for this class of problems to solve these robotics challenges.
Doctorant.e: Garcia Fontan Jorge