PUBLICATIONS

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 Nice-Sophia Antipolis.
      • Hua, M-D., Hamel, T., Morin, P., and Samson, C. (2009). A control approach for thrust-propelled underactuated vehicles and its application to VTOL drones. IEEE Transactions on Automatic Control (TAC), 54(8):1837-1853, 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):61-75, 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 multi-rotor helicopters. IEEE/ASME Transactions on Mechatronics (TMECH), 18(6):1724-1736, 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 AL08-08.
      • 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. 805-812, Los Angeles, CA, USA.
      • Omari, S., Hua, M-D., 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. 2419-2425, Tokyo, Japan.
      • Hua, M-D., Hamel, T., Morin, P., and Samson, C. (2009). Control of a class of thrust-propelled underactuated vehicles and application to a VTOL drone. In proceedings of IEEE International Conference on Robotics and Automation (ICRA), pp. 972-978, Kobe, Japan.
      • Hua, M.-D., Morin, P. and Samson, C. (2007). Balanced-Force-Control for underactuated thrust-propelled vehicles. In proceedings of 47th IEEE Conference on Decision and Control (CDC), pp. 6435-6441, 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. 147-161, Neuvy-sur-Barangeon.
      • Hua, M.-D., Hamel, T., Morin, P., and Samson, C. (2008). Control of Thrust-Propelled Underactuated Vehicles. Technical Report, INRIA Sophia Antipolis, 45 pages.

    • VTOL drones with thrust-tilting augmentation:
      • Hua, M.-D., Hamel, T., Morin, P., and Samson, C. (2015). Control of VTOL vehicles with thrust-tilting augmentation. Automatica, 52:1-7.
      • Hua, M.-D., Hamel, T., and Samson, C. (2014). Control of VTOL vehicles with thrust-tilting augmentation. In proceedings of 19th IFAC World Congress, pp. 2237-2244, 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 cross-fertilization 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. 301-320.
      • 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. 2393-2399, Karlsruhe, Germany.
      • Rifaï, H., Hua, M-D., Hamel, T., and Morin, P. (2011). Haptic-based bilateral teleoperation of underactuated unmanned aerial vehicles. In proceedings of 18th IFAC World Congress, pp. 13782-13788, 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. 262-267, Atlanta, GA, USA.

    • Others:
      • Ducard, G. and Hua, M.-D. (2014). Modeling of an Unmanned Hybrid Aerial Vehicle. In proceedings of IEEE Multi-conference on Systems and Control (MSC), pp. 1011-1016, 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 (UAV-g 2011), pp. 95-100, 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. 10379-10384, Milano, Italy.

  • Nonlinear observer design on Lie groups:
    • Velocity-aided attitude estimation SO(3) x R3:
      • Hua, M.-D., Martin, P., and Hamel, T. (2016). Stability analysis of velocity-aided attitude observers for accelerated vehicles. Automatica, 63:11-15.
      • Hua, M.-D. (2010). Attitude estimation for accelerated vehicles using GPS/INS measurements. Control Engineering Practice (CEP) (Special Issue on Aerial Robotics), 18(7):723-732, Regular Paper. 99 citations, among 5% most cited CEP papers in 2010 (rank 6) according to Google Scholar in 1st April 2017.
      • Hua, M-D., Martin, P., and Hamel, T. (2014). Velocity-aided attitude estimation for accelerated rigid bodies. In proceedings of 53rd IEEE Conference on Decision and Control (CDC), pp. 328-333, 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. 8071-8076.
      • Hua, M.-D., Hamel, T., and Samson, C. (2017). Riccati observers for velocity-aided 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 velocity-aided 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):201-213, 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 AL08-04.
      • Hua, M.-D., Rudin, K., Ducard, G., Hamel, T., and Mahony, R. (2011). Nonlinear attitude estimation with measurement decoupling and anti-windup gyro-bias compensation. In proceedings of 18th IFAC World Congress, pp. 2972-2978, Milano, Italy.

    • Pose estimation SE(3):
      • Hua, M.-D., Hamel, T., Mahony, R., and Trumpf, J. (2015). Gradient-like 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. 2139-2145, 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. 8169-8175, 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 feature-based observer design on SL(3) for Homography estimation and its application to image stabilization. In proceedings of IEEE International Conference on Robotics and Automation (ICRA), Marina Bay Sands, Singapore.
      • Hamel, T., Mahony, R., Trumpf, J., Morin, P., and Hua, M-D. (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. 7902-7908, Orlando, Florida, USA.

    • Minimum-energy observer:
      • Zamani, M., Hua, M.-D., Trumpf, J., and Mahony, R. (2012). Minimum-energy filtering on the unit circle using velocity measurements with bias and vectorial state measurements. In proceedings of the Australian Control Conference (AUCC), pp. 283-288, Sydney, Australia.

  • Sensor-based control of Autonomous Underwater Vehicles:
    • Krupinski, S., Allibert, G., Hua, M.-D., and Hamel, T. (2017). An inertial-aided homography-based visual servo control approach for (almost) fully-actuated 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). Homography-based visual servoing for Autonomous Underwater Vehicles. In proceedings of 19th IFAC World Congress, pp. 5729-5733, Cape Town, South Africa.
    • Krupinski, S., Allibert, G., Hua, M.-D., and Hamel, T. (2012). Pipeline tracking for fully-actuated autonomous underwater vehicle using visual servo control. In proceedings of American Control Conference (ACC), pp. 6196-6202, Montréal, Canada.

  • Modeling and Control design for other mobile robots:
    • Hua, M.-D. and Samson, C. (2011). Time sub-optimal nonlinear PI and PID controllers applied to longitudinal headway car control. International Journal of Control (IJC), 84(10):1717-1728, Regular Paper.
    • Hua, M.-D. and Samson, C. (2011). Time sub-optimal nonlinear PI and PID controllers applied to longitudinal headway car control. In proceedings of 18th IFAC World Congress, pp. 7547-7552, 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. 807-813, 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. 1-6, 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. 95-110.
    • 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. 95-110, 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. 1-6, San Diego, CA, USA.
    • Jun, J.-Y., Hua, M.-D., and Ben Amar, F. (2014). A trajectory tracking control design for a skid-steering mobile robot by adapting its desired instantaneous center of rotation. In proceedings of 53rd IEEE Conference on Decision and Control (CDC), pp. 4554-4559, Los Angeles, CA, USA.
    • Jun, J. Y., Hua, M.-D., and Benamar, F. (2014). A robust trajectory tracking controller for four-wheel skid-steering mobile robots. arXiv preprint arXiv:1404.4839.