Vaimos

ENSTA-Bretagne (OSM Team) develops control algorithms and the software architecture, IFREMER (LPO+RDT) builds the mechanics, the embedded instrumentation.

In 2013, Vaimos participated in the World Robotic Sailing Championship (WRSC) 2013 in Brest, France [3] .

The first loop corresponds to a low level controller which tunes the rudder and the sail provided in order to have a desired heading.

The proof that the robot will always stay inside its corridor can be performed using interval analysis and set inversion [6] .

The proof assumes that the robot obeys to some uncertain state equations which is not always the case in practice.