Many problems in robust control and motion planning can be reduced to either find a sound approximation of the solution space determined by a set of nonlinear inequalities, or to the ``guaranteed tuning problem'' as defined by Jaulin and Walter, which amounts to finding a value for some tuning parameter such that a set of inequalities be verified for all the possible values of some perturbation vector. A classical approach to solve these problems, which satisfies the strong soundness requirement, involves some quantifier elimination procedure such as Collins' Cylindrical Algebraic Decomposition symbolic method. Sound numerical methods using interval arithmetic and local consistency enforcement to prune the search space are presented in this paper as much faster alternatives for both soundly solving systems of nonlinear inequalities, and addressing the guaranteed tuning problem whenever the perturbation vector has dimension one. The use of these methods in camera control is investigated, and experiments with the prototype of a declarative modeller to express camera motion using a cinematic language are reported and commented.
Federal Research Center for Computer Science and Control of Russian Academy of Sciences（俄罗斯科学院联邦计算机科学与控制研究中心）；National Research University Higher School of Economics（国立研究型大学高等经济学院）；Peoples’ Friendship University of Russia (RUDN University)（俄罗斯人民友谊大学（卢蒙巴大学））；Ben-Gurion University of the Negev（内盖夫本-古里安大学）；Palo Alto Research Center (PARC)（帕洛阿尔托研究中心（PARC））
Driving among Flatmobiles: Bird-Eye-View occupancy grids from a monocular camera for holistic trajectory planning
Renault S.A.S（雷诺股份有限公司）；Sorbonne universités, Université de technologie de Compiègne, CNRS, Heudiasyc（索邦大学，贡比涅技术大学，法国国家科学研究中心，Heudiasyc实验室）；Monash University（莫纳什大学）
Safe Interval Path Planning With Kinodynamic Constraints
Moscow Institute of Physics and Technology（莫斯科物理技术学院）；Federal Research Center for Computer Science and Control of Russian Academy of Sciences（俄罗斯科学院联邦计算机科学与控制研究中心）；AIRI
BOSfM: A View Planning Framework for Optimal 3D Reconstruction of Agricultural Scenes
Department of Computer Science and Engineering, University of Minnesota, Twin Cities, USA（计算机科学与工程系，明尼苏达大学，双城分校）；Department of Electrical and Computer Engineering, University of Minnesota, Twin Cities, USA（电气与计算机工程系，明尼苏达大学，双城分校）；Department of Electrical and Computer Engineering, University of California San Diego, USA（电气与计算机工程系，加州大学圣地亚哥分校）
