PUBLICATIONS
JOURNAL PUBLICATIONS
 [J16] de Marco, S., Hua, M.D., Hamel, T., and Mahony, R. (2019). Homography estimation of a moving planar scene from direct point correspondence. Submitted to IEEE Transactions on Control Systems Technology.
 [J15] Nguyen, L.H., Hua, M.D., Allibert, G., and Hamel, T. (2019). A homographybased dynamic control approach applied to station keeping of autonomous underwater vehicles without linear velocity measurements. Submitted to IEEE Transactions on Control Systems Technology.
 [J14] Hua, M.D., Trumpf, J., Hamel, T., Mahony, R., and Morin, P. (2019). Point and line featurebased observer design on SL(3) for Homography estimation and its application to image stabilization. Provisionally accepted for Automatica.
 [J13] Hua, M.D., Trumpf, J., Hamel, T., Mahony, R., and Morin, P. (2019). Featurebased Recursive Observer Design for Homography Estimation and its Application to Image Stabilization. Asian Journal of Control, Special Issue, 116, Regular Paper.
 [J12] Allibert, G., Hua, M.D., Krupinski, S., and Hamel, T. (2019). Pipeline following by visual servoing for Autonomous Underwater Vehicles. Control Engineering Practice, 82:151160, Regular Paper.
 [J11] Krupinski, S., Allibert, G., Hua, M.D., and Hamel, T. (2017). An inertialaided homographybased visual servo control approach for (almost) fullyactuated Autonomous Underwater Vehicles. IEEE Transactions on Robotics, 33(5):10411060, Regular Paper.
 [J10] Hua, M.D., Martin, P., and Hamel, T. (2016). Stability analysis of velocityaided attitude observers for accelerated vehicles. Automatica, 63:1115.
 [J9] Hua, M.D., Hamel, T., Morin, P., and Samson, C. (2015). Control of VTOL vehicles with thrusttilting augmentation. Automatica, 52:17.
 [J8] Pucci, D., Hua, M.D., Hamel, T., Morin, P., and Samson, C. (2014). Nonlinear feedback control of VTOL UAVs. Onera AerospaceLab Journal, Issue 8 (Aerial Robotics), No AL0808.
 [J7] Hua, M.D., Ducard, G., Hamel, T., and Mahony, R. (2014). Introduction to nonlinear attitude estimation for aerial robotic systems. Onera AerospaceLab Journal, Issue 8 (Aerial Robotics), No AL0804.
 [J6] Hua, M.D., Ducard, G., Hamel, T., Mahony, R., and Rudin, K. (2014). Implementation of a nonlinear attitude estimator for aerial robotic vehicles. IEEE Transactions on Control Systems Technology (TCST), 22(1):201213, Regular Paper.
 [J5] Omari, S., Hua, M.D., Ducard, G., and Hamel, T. (2013). Hardware and software architecture for nonlinear control of multirotor helicopters. IEEE/ASME Transactions on Mechatronics (TMECH), 18(6):17241736, Regular Paper.
 [J4] Hua, M.D., Hamel, T., Morin, P., and Samson, C. (2013). Introduction to feedback control of underactuated VTOL vehicles: a review of basic control design ideas and principles. IEEE Control Systems Magazine (CSM), 33(1):6175, Regular Paper.
 [J3] Hua, M.D. and Samson, C. (2011). Time suboptimal nonlinear PI and PID controllers applied to longitudinal headway car control. International Journal of Control (IJC), 84(10):17171728, Regular Paper.
 [J2] Hua, M.D. (2010). Attitude estimation for accelerated vehicles using GPS/INS measurements. Control Engineering Practice (CEP) (Special Issue on Aerial Robotics), 18(7):723732, Regular Paper.
 [J1] Hua, MD., Hamel, T., Morin, P., and Samson, C. (2009). A control approach for thrustpropelled underactuated vehicles and its application to VTOL drones. IEEE Transactions on Automatic Control (TAC), 54(8):18371853, Regular Paper.
CONFERENCE PUBLICATIONS
 [C37] Nguyen, L.H., Hua, M.D., and Hamel, T. (2019). A homographybased dynamic control approach of Autonomous Underwater Vehicles observing a (near) vertical target without linear velocity measurements. Submitted to IEEE Conference on Decision and Control (CDC), Nice, France.
 [C36] Nguyen, L.H., Hua, M.D., and Hamel, T. (2019). A nonlinear control approach for trajectory tracking of slenderbody axisymmetric underactuated underwater vehicles. Accepted for European Control Conference (ECC'19), Invited Paper, Naples, Italy.
 [C35] de Marco, S., Hua, M.D., Mahony, R., Hamel, T. (2018). Homography estimation of a moving planar scene from direct point correspondence. In proceedings of IEEE Conference on Decision and Control (CDC), pp. 14291435, Miami Beach, FL, USA.
 [C34] Hua, M.D., and Allibert, G. (2018). Riccati Observer Design for Pose, Linear Velocity and Gravity Direction Estimation using Landmark Position and IMU Measurements. In proceedings of IEEE Conference on Control Technology and Applications (CCTA), pp. 13131318, Invited Paper, Copenhagen, Denmark.
 [C33] Manerikar, N., Hua, M.D., and Hamel, T. (2018). Homography Observer Design on Special Lineal Group SL(3) with Application to Optical Flow Estimation. In proceedings of European Control Conference (ECC), pp. 16021606, Limassol, Cyprus.
 [C32] Hua, M.D., Manerikar, N., Hamel, T., and Samson, C. (2018). Attitude, Linear Velocity and Depth Estimation of a Camera observing a Planar Target using Continuous Homography and Inertial data. In proceedings of IEEE International Conference on Robotics and Automation (ICRA), pp. ???, Brisbane, Australia.
 [C31] Nguyen, L.H., Hua, M.D., Allibert, G., and Hamel, T. (2017). Inertialaided Homographybased Visual Servo Control of Autonomous Underwater Vehicles without Linear Velocity Measurements. In proceedings of 21st International Conference on System Theory, Control and Computing (ICSTCC), pp. 916, Sinaia, Romania.
 [C30] Kai, J.M., Allibert, G., Hua, M.D., and Hamel, T. (2017). Nonlinear feedback control of Quadrotors exploiting FirstOrder Drag Effects. In proceedings of 20th IFAC World Congress, pp. 81898195, Toulouse, France.
 [C29] Hua, M.D., Hamel, T., Mahony, R., and Allibert, G. (2017). Explicit Complementary Observer Design on Special Linear Group SL(3) for Homography Estimation using Conic Correspondences. In proceedings of 56th IEEE Conference on Decision and Control (CDC), pp. 24342441, Melbourne, Australia.
 [C28] Hua, M.D., Hamel, T., and Samson, C. (2017). Riccati observers for velocityaided attitude estimation of accelerated vehicles using coupled velocity measurements. In proceedings of 56th IEEE Conference on Decision and Control (CDC), pp. 24282433, Melbourne, Australia.
 [C27] Hua, M.D., Hamel, T., Mahony, R., and Trumpf, J. (2015). Gradientlike observer design on the Special Euclidean group SE(3) with system outputs on the real projective space. In proceedings of 54th IEEE Conference on Decision and Control (CDC), pp. 21392145, Invited Paper, Osaka, Japan.
 [C26] Saoud, H., Hua, M.D., Plumet, F., and Ben Amar, F. (2015). Optimal sail angle computation for an autonomous sailboat robot. In proceedings of 54th IEEE Conference on Decision and Control (CDC), pp. 807813, Osaka, Japan.
 [C25] Saoud, H., Hua, M.D., Plumet, F., and Ben Amar, F. (2015). Routing and course control of an autonomous sailboat. In proceedings of European Conference on Mobile Robots (ECMR), pp. 16, Lincoln, UK.
 [C24] Krupinski, S., Desouche, R., Palomeras, N. , Allibert, G., and Hua, M.D. (2015). Pool testing of AUV visual servoing for autonomous inspection. In proceedings of IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV’2015), 7 pages, Girona, Spain.
 [C23] Jun, J.Y., Hua, M.D., and Ben Amar, F. (2014). A trajectory tracking control design for a skidsteering mobile robot by adapting its desired instantaneous center of rotation. In proceedings of 53rd IEEE Conference on Decision and Control (CDC), pp. 45544559, Los Angeles, CA, USA.
 [C22] Hua, MD., Martin, P., and Hamel, T. (2014). Velocityaided attitude estimation for accelerated rigid bodies. In proceedings of 53rd IEEE Conference on Decision and Control (CDC), pp. 328333, Los Angeles, CA, USA.
 [C21] Hua, M.D., Pucci, D., Hamel, T., Morin, P., and Samson, C. (2014). A novel approach to the automatic control of scale model airplanes. In proceedings of 53rd IEEE Conference on Decision and Control (CDC), pp. 805812, Los Angeles, CA, USA.
 [C20] Hua, M.D., Hamel, T., and Samson, C. (2014). Control of VTOL vehicles with thrusttilting augmentation. In proceedings of 19th IFAC World Congress, pp. 22372244, Cape Town, South Africa.
 [C19] Hua, M.D., Allibert, G., Krupinski, S., and Hamel, T. (2014). Homographybased visual servoing for Autonomous Underwater Vehicles. In proceedings of 19th IFAC World Congress, pp. 57295733, Cape Town, South Africa.
 [C18] Ducard, G. and Hua, M.D. (2014). Modeling of an Unmanned Hybrid Aerial Vehicle. In proceedings of IEEE Multiconference on Systems and Control (MSC), pp. 10111016, Antibes, France.
 [C17] Saoud, H., Hua, M.D., Plumet, F., and Ben Amar, F. (2013). Modeling and control design of a robotic sailboat. In 6th International Robotic Sailing Conference, pp. 95110, Brest, France.
 [C16] Plumet, F., Saoud, H., and Hua, M.D. (2013). Line following for an autonomous sailboat using potential fields method. In proceedings of MTS/IEEE Oceans 2013, pp. 16, San Diego, CA, USA.
 [C15] Omari, S., Hua, M.D., Ducard, G., and Hamel, T. (2013). Bilateral haptic teleoperation of VTOL UAVs. In proceedings of IEEE International Conference on Robotics and Automation (ICRA), pp. 23932399, Karlsruhe, Germany.
 [C14] Zamani, M., Hua, M.D., Trumpf, J., and Mahony, R. (2012). Minimumenergy filtering on the unit circle using velocity measurements with bias and vectorial state measurements. In proceedings of the Australian Control Conference (AUCC), pp. 283288, Sydney, Australia.
 [C13] Krupinski, S., Allibert, G., Hua, M.D., and Hamel, T. (2012). Pipeline tracking for fullyactuated autonomous underwater vehicle using visual servo control. In proceedings of American Control Conference (ACC), pp. 61966202, Montréal, Canada.
 [C12] Hamel, T., Mahony, R., Trumpf, J., Morin, P., and Hua, MD. (2011). Homography estimation on the Special Linear Group based on direct point correspondence. In proceedings of 50th IEEE Conference on Decision and Control (CDC), pp. 79027908, Orlando, Florida, USA.
 [C11] Hua, M.D., Zamani, M., Trumpf, J., Mahony, R., and Hamel, T. (2011). Observer design on the Special Euclidean group SE(3). In proceedings of 50th IEEE Conference on Decision and Control (CDC), pp. 81698175, Orlando, Florida, USA.
 [C10] Ducard, G. and Hua, M.D. (2011). Discussion and practical aspects on control allocation for a multirotor helicopter. In proceedings of International Conference on Unmanned Aerial Vehicle in Geomatics (UAVg 2011), pp. 95100, Zürich, Switzerland.
 [C9] Hua, M.D. and Samson, C. (2011). Time suboptimal nonlinear PI and PID controllers applied to longitudinal headway car control. In proceedings of 18th IFAC World Congress, pp. 75477552, Milano, Italy.
 [C8] Rudin, K., Hua, M.D., Ducard, G., and Bouabdallah, S. (2011). A robust attitude controller and its application to Quadrotor helicopters. In proceedings of 18th IFAC World Congress, pp. 1037910384, Milano, Italy.
 [C7] Hua, M.D., Rudin, K., Ducard, G., Hamel, T., and Mahony, R. (2011). Nonlinear attitude estimation with measurement decoupling and antiwindup gyrobias compensation. In proceedings of 18th IFAC World Congress, pp. 29722978, Milano, Italy.
 [C6] Rifaï, H., Hua, MD., Hamel, T., and Morin, P. (2011). Hapticbased bilateral teleoperation of underactuated unmanned aerial vehicles. In proceedings of 18th IFAC World Congress, pp. 1378213788, Milano, Italy.
 [C5] Hua, M.D. and Rifaï, H. (2010). Obstacle avoidance for teleoperated underactuated aerial vehicles. In proceedings of 49th IEEE Conference on Decision and Control (CDC), pp. 262267, Atlanta, GA, USA.
 [C4] Hua, M.D. (2009). Attitude observers for accelerated rigid bodies based on GPS and INS measurements. In proceedings of 48th IEEE Conference on Decision and Control (CDC), pp. 80718076.
 [C3] Hua, MD., Hamel, T., Morin, P., and Samson, C. (2009). Control of a class of thrustpropelled underactuated vehicles and application to a VTOL drone. In proceedings of IEEE International Conference on Robotics and Automation (ICRA), pp. 972978, Kobe, Japan.
 [C2] Hua, M.D., Hamel, T., Morin, P., and Samson, C. (2009). Commande par retour d’état pour des engins volants de type VTOL: résultats et perspectives. Journées Nationales de la Recherche en Robotique (JNRR), pp. 147161, NeuvysurBarangeon.
 [C1] Hua, M.D., Morin, P. and Samson, C. (2007). BalancedForceControl for underactuated thrustpropelled vehicles. In proceedings of 47th IEEE Conference on Decision and Control (CDC), pp. 64356441, New Orleans, LA, USA.
My full publication list can be seen at my Google Scholar page https://goo.gl/Jie6P6 Here below is categorized by research themes:
 Nonlinear control of underactuated aerial vehicles:
 Nonlinear feedback control of aerial drones:
 Hua, M.D. (2009). Contributions to the automatic control of aerial vehicles. Thesis, Université de NiceSophia Antipolis.
 Hua, MD., Hamel, T., Morin, P., and Samson, C. (2009). A control approach for thrustpropelled underactuated vehicles and its application to VTOL drones. IEEE Transactions on Automatic Control (TAC), 54(8):18371853, Regular Paper. 190 citations, among 5% most cited TAC papers in 2009 according to Google Scholar in 1st April 2017.
 Hua, M.D., Hamel, T., Morin, P., and Samson, C. (2013). Introduction to feedback control of underactuated VTOL vehicles: a review of basic control design ideas and principles. IEEE Control Systems Magazine (CSM), 33(1):6175, Regular Paper. 125 citations, the most cited CSM paper in 2013 according to Google Scholar in 1st April 2017.
 Omari, S., Hua, M.D., Ducard, G., and Hamel, T. (2013). Hardware and software architecture for nonlinear control of multirotor helicopters. IEEE/ASME Transactions on Mechatronics (TMECH), 18(6):17241736, Regular Paper.
 Pucci, D., Hua, M.D., Hamel, T., Morin, P., and Samson, C. (2014). Nonlinear feedback control of VTOL UAVs. Onera AerospaceLab Journal, Issue 8 (Aerial Robotics), No AL0808.
 Hua, M.D., Pucci, D., Hamel, T., Morin, P., and Samson, C. (2014). A novel approach to the automatic control of scale model airplanes. In proceedings of 53rd IEEE Conference on Decision and Control (CDC), pp. 805812, Los Angeles, CA, USA.
 Omari, S., Hua, MD., Ducard, G., and Hamel, T. (2013). Nonlinear control of VTOL UAVs incorporating flapping dynamics. In proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 24192425, Tokyo, Japan.
 Hua, MD., Hamel, T., Morin, P., and Samson, C. (2009). Control of a class of thrustpropelled underactuated vehicles and application to a VTOL drone. In proceedings of IEEE International Conference on Robotics and Automation (ICRA), pp. 972978, Kobe, Japan.
 Hua, M.D., Morin, P. and Samson, C. (2007). BalancedForceControl for underactuated thrustpropelled vehicles. In proceedings of 47th IEEE Conference on Decision and Control (CDC), pp. 64356441, New Orleans, LA, USA.
 Hua, M.D., Hamel, T., Morin, P., and Samson, C. (2009). Commande par retour d’état pour des engins volants de type VTOL: résultats et perspectives. Journées Nationales de la Recherche en Robotique (JNRR), pp. 147161, NeuvysurBarangeon.
 Hua, M.D., Hamel, T., Morin, P., and Samson, C. (2008). Control of ThrustPropelled Underactuated Vehicles. Technical Report, INRIA Sophia Antipolis, 45 pages.

VTOL drones with thrusttilting augmentation: Hua, M.D., Hamel, T., Morin, P., and Samson, C. (2015). Control of VTOL vehicles with thrusttilting augmentation. Automatica, 52:17.
 Hua, M.D., Hamel, T., and Samson, C. (2014). Control of VTOL vehicles with thrusttilting augmentation. In proceedings of 19th IFAC World Congress, pp. 22372244, Cape Town, South Africa.

Teleoperation of VTOL drones: Omari, S., Hua, M.D., Ducard, G., and Hamel, T. (2014). Bilateral haptic teleoperation of an industrial multirotor UAV. In Gearing up and accelerating crossfertilization between academic and industrial robotics research in Europe: Springer Tracts in Advanced Robotics, Springer International Publishing, Editors: Florian Röhrbein, Germano Veiga, Ciro Natale, part III, vol. 94, pp. 301320.
 Omari, S., Hua, M.D., Ducard, G., and Hamel, T. (2013). Bilateral haptic teleoperation of VTOL UAVs. In proceedings of IEEE International Conference on Robotics and Automation (ICRA), pp. 23932399, Karlsruhe, Germany.
 Rifaï, H., Hua, MD., Hamel, T., and Morin, P. (2011). Hapticbased bilateral teleoperation of underactuated unmanned aerial vehicles. In proceedings of 18th IFAC World Congress, pp. 1378213788, Milano, Italy.
 Hua, M.D. and Rifaï, H. (2010). Obstacle avoidance for teleoperated underactuated aerial vehicles. In proceedings of 49th IEEE Conference on Decision and Control (CDC), pp. 262267, Atlanta, GA, USA.

Others: Ducard, G. and Hua, M.D. (2014). Modeling of an Unmanned Hybrid Aerial Vehicle. In proceedings of IEEE Multiconference on Systems and Control (MSC), pp. 10111016, Antibes, France.
 Ducard, G. and Hua, M.D. (2011). Discussion and practical aspects on control allocation for a multirotor helicopter. In proceedings of International Conference on Unmanned Aerial Vehicle in Geomatics (UAVg 2011), pp. 95100, Zürich, Switzerland.
 Rudin, K., Hua, M.D., Ducard, G., and Bouabdallah, S. (2011). A robust attitude controller and its application to Quadrotor helicopters. In proceedings of 18th IFAC World Congress, pp. 1037910384, Milano, Italy.
 Nonlinear feedback control of aerial drones:
 Nonlinear observer design on Lie groups:
 Velocityaided attitude estimation SO(3) x R3:
 Hua, M.D., Martin, P., and Hamel, T. (2016). Stability analysis of velocityaided attitude observers for accelerated vehicles. Automatica, 63:1115.
 Hua, M.D. (2010). Attitude estimation for accelerated vehicles using GPS/INS measurements. Control Engineering Practice (CEP) (Special Issue on Aerial Robotics), 18(7):723732, Regular Paper. 99 citations, among 5% most cited CEP papers in 2010 (rank 6) according to Google Scholar in 1st April 2017.
 Hua, MD., Martin, P., and Hamel, T. (2014). Velocityaided attitude estimation for accelerated rigid bodies. In proceedings of 53rd IEEE Conference on Decision and Control (CDC), pp. 328333, Los Angeles, CA, USA.
 Hua, M.D. (2009). Attitude observers for accelerated rigid bodies based on GPS and INS measurements. In proceedings of 48th IEEE Conference on Decision and Control (CDC), pp. 80718076.
 Hua, M.D., Hamel, T., and Samson, C. (2017). Riccati observers for velocityaided attitude estimation of accelerated vehicles using coupled velocity measurements. Accepted for CDC 2017.
 Martin, P., Sarras, I., Hua, M.D., and Hamel, T. (2016). A global exponential observer for velocityaided attitude estimation. arXiv preprint arXiv:1608.07450.

Attitude estimation SO(3): Hua, M.D., Ducard, G., Hamel, T., Mahony, R., and Rudin, K. (2014). Implementation of a nonlinear attitude estimator for aerial robotic vehicles. IEEE Transactions on Control Systems Technology (TCST), 22(1):201213, Regular Paper. 47 citations, among 5% most cited TCST papers in 2014 (rank 12) according to Google Scholar in 1st April 2017.
 Hua, M.D., Ducard, G., Hamel, T., and Mahony, R. (2014). Introduction to nonlinear attitude estimation for aerial robotic systems. Onera AerospaceLab Journal, Issue 8 (Aerial Robotics), No AL0804.
 Hua, M.D., Rudin, K., Ducard, G., Hamel, T., and Mahony, R. (2011). Nonlinear attitude estimation with measurement decoupling and antiwindup gyrobias compensation. In proceedings of 18th IFAC World Congress, pp. 29722978, Milano, Italy.

Pose estimation SE(3): Hua, M.D., Hamel, T., Mahony, R., and Trumpf, J. (2015). Gradientlike observer design on the Special Euclidean group SE(3) with system outputs on the real projective space. In proceedings of 54rd IEEE Conference on Decision and Control (CDC), pp. 21392145, Invited Paper, Osaka, Japan.
 Hua, M.D., Zamani, M., Trumpf, J., Mahony, R., and Hamel, T. (2011). Observer design on the Special Euclidean group SE(3). In proceedings of 50th IEEE Conference on Decision and Control (CDC), pp. 81698175, Orlando, Florida, USA.

Homography estimation SL(3): 
 Hua, M.D., Hamel, T., Mahony, R., and Allibert, G. (2017). Explicit Complementary Observer Design on Special Linear Group SL(3) for Homography Estimation using Conic Correspondences. Accepted for CDC 2017.
 Hua, M.D., Trumpf, J., Hamel, T., Mahony, R., and Morin, P. (2017). Point and line featurebased observer design on SL(3) for Homography estimation and its application to image stabilization. Technical report.
 Hamel, T., Mahony, R., Trumpf, J., Morin, P., and Hua, MD. (2011). Homography estimation on the Special Linear Group based on direct point correspondence. In proceedings of 50th IEEE Conference on Decision and Control (CDC), pp. 79027908, Orlando, Florida, USA.

Minimumenergy observer: Zamani, M., Hua, M.D., Trumpf, J., and Mahony, R. (2012). Minimumenergy filtering on the unit circle using velocity measurements with bias and vectorial state measurements. In proceedings of the Australian Control Conference (AUCC), pp. 283288, Sydney, Australia.
 Velocityaided attitude estimation SO(3) x R3:
 Sensorbased control of Autonomous Underwater Vehicles:
 Krupinski, S., Allibert, G., Hua, M.D., and Hamel, T. (2017). An inertialaided homographybased visual servo control approach for (almost) fullyactuated Autonomous Underwater Vehicles. Accepted for IEEE Transactions on Robotics, Regular Paper, 17 pages.
 Krupinski, S., Desouche, R., Palomeras, N. , Allibert, G., and Hua, M.D. (2015). Pool testing of AUV visual servoing for autonomous inspection. In proceedings of IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV’2015), 7 pages, Girona, Spain.
 Hua, M.D., Allibert, G., Krupinski, S., and Hamel, T. (2014). Homographybased visual servoing for Autonomous Underwater Vehicles. In proceedings of 19th IFAC World Congress, pp. 57295733, Cape Town, South Africa.
 Krupinski, S., Allibert, G., Hua, M.D., and Hamel, T. (2012). Pipeline tracking for fullyactuated autonomous underwater vehicle using visual servo control. In proceedings of American Control Conference (ACC), pp. 61966202, Montréal, Canada.
 Modeling and Control design for other mobile robots:
 Hua, M.D. and Samson, C. (2011). Time suboptimal nonlinear PI and PID controllers applied to longitudinal headway car control. International Journal of Control (IJC), 84(10):17171728, Regular Paper.
 Hua, M.D. and Samson, C. (2011). Time suboptimal nonlinear PI and PID controllers applied to longitudinal headway car control. In proceedings of 18th IFAC World Congress, pp. 75477552, Milano, Italy.
 Saoud, H., Hua, M.D., Plumet, F., and Ben Amar, F. (2015). Optimal sail angle computation for an autonomous sailboat robot. In proceedings of 54rd IEEE Conference on Decision and Control (CDC), pp. 807813, Osaka, Japan.
 Saoud, H., Hua, M.D., Plumet, F., and Ben Amar, F. (2015). Routing and course control of an autonomous sailboat. In proceedings of European Conference on Mobile Robots (ECMR), pp. 16, Lincoln, UK.
 Saoud, H., Hua, M.D., Plumet, F., and Ben Amar, F. (2014). Modeling and control design of a robotic sailboat. In Robotic Sailing 2013, Springer International Publishing, Editors: Fabrice Le Bars, Luc Jaulin, part III, pp. 95110.
 Saoud, H., Hua, M.D., Plumet, F., and Ben Amar, F. (2013). Modeling and control design of a robotic sailboat. In 6th International Robotic Sailing Conference, pp. 95110, Brest, France.
 Plumet, F., Saoud, H., and Hua, M.D. (2013). Line following for an autonomous sailboat using potential fields method. In proceedings of MTS/IEEE Oceans 2013, pp. 16, San Diego, CA, USA.
 Jun, J.Y., Hua, M.D., and Ben Amar, F. (2014). A trajectory tracking control design for a skidsteering mobile robot by adapting its desired instantaneous center of rotation. In proceedings of 53rd IEEE Conference on Decision and Control (CDC), pp. 45544559, Los Angeles, CA, USA.
 Jun, J. Y., Hua, M.D., and Benamar, F. (2014). A robust trajectory tracking controller for fourwheel skidsteering mobile robots. arXiv preprint arXiv:1404.4839.