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--- abstract: |- We present in this paper a Bayesian CAD system for robotic applications. We address the problem of the propagation of geometric uncertainties and how esian CAD system for robotic applications. We address the problem of the propagation of geometric uncertainties and how to take this propagation into account when solving inverse problems. We describe the methodology we use to represent and handle uncertainties using probability distributions on the system's parameters and sensor measurements. It may be seen as a generalization of constraint-based approaches where we express a constraint as a probability distribution instead of a simple equality or inequality. Appropriate numerical algorithms used to apply this methodology are also described. Using an example, we show how to apply our approach by providing simulation results using our CAD system. altloc: [] chapter: ~ commentary: ~ commref: ~ confdates: 2000 conference: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2000) confloc: 'Takamatsu, Japan' contact_email: ~ creators_id: [] creators_name: - family: Mekhnacha given: K honourific: Dr lineage: '' - family: Mazer given: E honourific: Dr lineage: '' - family: Bessiere given: P honourific: Dr lineage: '' date: 2000 date_type: published datestamp: 2004-08-10 department: ~ dir: disk0/00/00/37/38 edit_lock_since: ~ edit_lock_until: ~ edit_lock_user: ~ editors_id: [] editors_name: [] eprint_status: archive eprintid: 3738 fileinfo: /style/images/fileicons/application_pdf.png;/3738/1/mekhnacha00a.pdf full_text_status: public importid: ~ institution: ~ isbn: ~ ispublished: pub issn: ~ item_issues_comment: [] item_issues_count: 0 item_issues_description: [] item_issues_id: [] item_issues_reported_by: [] item_issues_resolved_by: [] item_issues_status: [] item_issues_timestamp: [] item_issues_type: [] keywords: CAD Bayesian robotics lastmod: 2011-03-11 08:55:39 latitude: ~ longitude: ~ metadata_visibility: show note: ~ number: ~ pagerange: 1597-1604 pubdom: TRUE publication: ~ publisher: ~ refereed: FALSE referencetext: ~ relation_type: [] relation_uri: [] reportno: ~ rev_number: 12 series: ~ source: ~ status_changed: 2007-09-12 16:53:08 subjects: - comp-sci-robot succeeds: ~ suggestions: ~ sword_depositor: ~ sword_slug: ~ thesistype: ~ title: A Robotic CAD System using a Bayesian Framework type: confpaper userid: 4357 volume: 3