Contractor Filters

Abstract:We introduce Contractor Filters (CFs), a set-membership architecture for nonlinear continuous-time state estimation with bounded uncertainties and sporadic outliers. CFs represent feasible states symbolically by compositions of contractors rather than rematerializing a geometric enclosure after each update. This provides an abstraction layer between the set-theoretic filtering equations and their numerical realization, so prediction, correction, ambiguity, and outlier handling can be expressed within one algebra without prescribing a state geometry. We derive an exact nominal recursion and a guaranteed robust enclosure, with validated flow inclusions preserving soundness. Optional sub-paving compression then provides finite outer representations. CFs are evaluated against a robust particle filter on range-only and terrain-based localization under outliers, probabilistic model mismatch, association ambiguity, and multimodality. CFs retain the simulated truth in all tested configurations, while particle-filter reliability degrades under persistent bias and spatial aliasing. Contractor strength and compression budget control the trade-off between paving tightness and computational cost, while preserving the enclosure guarantee.

Robotics (cs.RO); Dynamical Systems (math.DS)

arXiv:2610.18040 [cs.RO]

(or arXiv:2610.18040v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2610.18040 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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