IAMACS (Interval Analysis: Methods, Applications, Contractors and Sets) is a
two-days summer school
that will take place July 8-9 during the
IFAC Congres in Toulouse
All courses and conversations will be in English.
During this school, you will have several speakers and some practices. This page is mainly related to the practice.
We believe that it is better if you arrive with your own computer. If you cannot, please, let us know and we will find a solution.
Before arriving to the school, please, install Python, PyIbex, Vibes.
The procedure is described in Exercise 0. The install should be easy but in case of problems, we will be here to help you,
now (email@example.com) or later in Toulouse.
In this school, you will also have some exercises to do. They will be taken from Exercises 8,9,10,11 in this pdf file.
More details can be found on the website of Nacim Ramdani at this link
Venue : Toulouse, Pierre Baudis Congress center, Room : Ariane 2.
Day 1. Saturday 8 July 2017, 9h-17h30
9h-10h30, 11h-12h30. Luc Jaulin (Lab-STICC, France): Interval methods.
14h-15h30. Nacim Ramdani (Université d’Orléans, France) Reachability computation with hybrid dynamical systems. Application to state estimation.
16h-17h30. Nacim Meslem (Grenoble-INP, France) and Nacim Ramdani (Université d’Orléans, France): Reachability for control synthesis and validation.
Day 2. Sunday 9 July 2017, 9h-17h30
9h-10h30. Michel Kieffer (Université Paris-Sud, IUF, France) : Guaranteed characterization of confidence sets: Application to distributed localisation.
11h-12h30. Tarek Raïssi (CNAM, Paris, France) Interval observers and fault tolerant control.
14h-15h30, 16h-17h30. Luc Jaulin (ENSTA Bretagne, France) and Benoît Desrochers (DGA-TN)
In the last version of PyIbex (2017), few things have changed in the Python
code and the code written in the videos is not always exactly consistent with the latest version of
PyIbex. Below are listed the changes. from pyIbex import * should be replaced by from pyibex import * SepQInterProjF should be replaced by SepQInter
Moreover, to start Vibes from your terminal, write
Vibes-viewer instead of vibes.
Some other modifications are described in the PyIbex documentation. (in magenta)
The goal of Exercise 0 is to help you to install all what you need to follow IAMACS.
You need Vibes for graphics.
If you already use Python and you feel confortable with the installation, you probably do not need to install all tools.
It suffices to go to the PyIbex site.
If Python is not installed in your computer, the best is to follow the following procedure:
1) Install Conda as described at http://conda.pydata.org/docs/install/.
2) Install pyibex
Proxy problems. In your institute, you may have a proxy which blocks some access to
conda packages. In this case, the install can be done from your home, or from any internet environment
without any proxy.
Exercise 1. Contractors and separators
This corresponds to Exercice 8 found in this this pdf file.
A separator is a pair of two contractors: an inner contractor and an outer contractor.
This exercise illustrates how Pybex (which is a Python extension of Ibex) can be used to
build easily separators for sets defined as union, intersection and complements of primitive sets.
You can use the second part of the following video in case of problems.
Exercise 2. Parameter estimation
This corresponds Exercice 9 found of this pdf file.
Bounded error estimation problems can now be solved very easily and efficiently with the help of PyIbex.
Exercise 3. Localization of a robot from landmarks using range and bearing measurements
This corresponds Exercice 10 found of this pdf file.
This exercise shows an important application which can be solved efficiently with interval analysis.
Without any linearization, we show that it is possible to localize a robot in a guaranteed manner.
Exercise 4. Simultaneous Localization And Mapping (SLAM)
This corresponds Exercice 11 found of this pdf file.
In a SLAM problem, many variables are involved with nonlinear constraints. This
problem is considered as difficult. We show here that it it possible
to solve it easily and in a reliable way using intervals.