2023
Charles-Olivier Artizzu, Guillaume Allibert, Cédric Demonceaux
OMNI-CONV: Generalization of the Omnidirectional Distortion-Aware Convolutions.
Journal of Imaging, 2023, 9 (2), pp.16. ⟨10.3390/jimaging9020029⟩, hal-03963383

Sardor Israilov, Li Fu, Jesús Sánchez-Rodríguez, Franco Fusco, Guillaume Allibert, Christophe Raufaste, Médéric Argentina
Reinforcement learning approach to control an inverted pendulum: A general framework for educational purposes.
PLoS ONE, 2023, 18 (2), pp.e0280071. ⟨10.1371/journal.pone.0280071⟩, hal-03999495

Zongwei Wu, Guillaume Allibert, Fabrice Meriaudeau, Chao Ma, Cédric Demonceaux
HiDAnet: RGB-D Salient Object Detection via Hierarchical Depth Awareness.
IEEE Transactions on Image Processing, 2023, 32, pp.2160 - 2173. ⟨10.1109/TIP.2023.3263111⟩, hal-04045138

Tarek Bouazza, Katrina Ashton, Pieter van Goor, Robert Mahony, Tarek Hamel
Equivariant Filter for Feature-Based Homography Estimation for General Camera Motion.
2023 62nd IEEE Conference on Decision and Control (CDC), Dec 2023, Singapore, France. pp.8463-8470, ⟨10.1109/CDC49753.2023.10383627⟩, hal-04445881

Pierre Gintrand, Minh-Duc Hua, Tarek Hamel, Guillaume Varra
A Novel Observer Design for Monocular Visual SLAM.
IFAC World Congress, IFAC, Jul 2023, Yokohama, Japan, hal-04300342

2022
Robert Mahony, Pieter van Goor, Tarek Hamel
Observer Design for Nonlinear Systems with Equivariance.
Annual Review of Control, Robotics, and Autonomous Systems , 2022, 5 (1), ⟨10.1146/annurev-control-061520-010324⟩, hal-03652827

Charles-Olivier Artizzu, Guillaume Allibert, Cédric Demonceaux
Deep Reinforcement Learning with Omnidirectional Images: application to UAV Navigation in Forests.
17th International Conference on Control, Automation, Robotics and Vision (Finalist "Best Paper Student"), Dec 2022, Singapore, Singapore, hal-03812448

Charles-Olivier Artizzu, Guillaume Allibert, Cédric Demonceaux
OMNI-DRL: Learning to Fly in Forests with Omnidirectional Images.
Symposium on Robot Control (SYROCO), Oct 2022, Matsumoto, Japan, hal-03777700

Tarek Bouazza, Tarek Hamel, Minh-Duc Hua, Robert Mahony
Homography-based Riccati observer design for camera pose estimation.
61st Conference on Decision and Control (CDC), IEEE, Dec 2022, Cancun, Mexico, Mexico. pp.6862-6868, ⟨10.1109/CDC51059.2022.9993321⟩, hal-04300395

Tarek Bouazza, Tarek Hamel, Minh Duc Hua, Robert Mahony
Homography-based Riccati observer design for camera pose estimation.
61st IEEE Conference on Decision and Control, 2022, Cancun, Mexico, hal-03851200

Franco Fusco, Guillaume Allibert, Olivier Kermorgant, Philippe Martinet
Investigating the Performances of Control Parameterizations for Nonlinear Model Predictive Control.
17th International Conference on Control, Automation, Robotics and Vision, Dec 2022, Singapore, Singapore, hal-03812458

Franco Fusco, Guillaume Allibert, Olivier Kermorgant, Philippe Martinet
Benchmarking Nonlinear Model Predictive Control with Input Parameterizations.
International Conference on Methods and Models in Automation and Robotics, Aug 2022, Miedzyzdroje, Poland, hal-03701390

Pierre Gintrand, Minh-Duc Hua, Tarek Hamel, Guillaume Varra
On the uniform observability of the relative pose estimation problem using bearing measurements and epipolar constraints.
61st Conference on Decision and Control (CDC), IEEE, Dec 2022, Cancun, Mexico, Mexico. pp.3468-3474, ⟨10.1109/CDC51059.2022.9993249⟩, hal-04299094

Pierre Gintrand, Minh-Duc Hua, Tarek Hamel, Guillaume Varra
On the uniform observability of the relative pose estimation problem using bearing measurements and epipolar constraints.
61st IEEE Conference on Decision and Control, Dec 2022, Cancun, Mexico, hal-03851189

Zongwei Wu, Shriarulmozhivarman Gobichettipalayam, Brahim Tamadazte, Guillaume Allibert, Danda Pani Paudel, Cédric Demonceaux
Robust RGB-D Fusion for Saliency Detection.
10th International Conference on 3D Vision, Sep 2022, Prague, Czech Republic, hal-03746242

Minh-Duc Hua, Tarek Hamel, Claude Samson, Ninad Manerikar
Deterministic Riccati observers for homography decomposition.
2022, hal-03851216

2021
Mike Allenspach, Guillaume Ducard
Nonlinear model predictive control and guidance for a propeller-tilting hybrid unmanned air vehicle.
Automatica, 2021, 132, pp.109790. ⟨10.1016/j.automatica.2021.109790⟩, hal-03507637

L. Bauersfeld, L. Spannagl, Guillaume Ducard, Christopher Onder
MPC Flight Control for a Tilt-Rotor VTOL Aircraft.
IEEE Transactions on Aerospace and Electronic Systems, 2021, 57 (4), pp.2395-2409. ⟨10.1109/TAES.2021.3061819⟩, hal-03507625

Leonard Bauersfeld, Guillaume Ducard
RTOB SLAM: Real-Time Onboard Laser-Based Localization and Mapping.
Vehicles, 2021, 3 (4), pp.778-789. ⟨10.3390/vehicles3040046⟩, hal-03507593

Guillaume Ducard, Mike Allenspach
Review of designs and flight control techniques of hybrid and convertible VTOL UAVs.
Aerospace Science and Technology, 2021, 118, pp.107035. ⟨10.1016/j.ast.2021.107035⟩, hal-03507633

Robert Mahony, Tarek Hamel, Jochen Trumpf
An homogeneous space geometry for simultaneous localisation and mapping.
Annual Reviews in Control, 2021, 51, pp.254-267. ⟨10.1016/j.arcontrol.2021.04.012⟩, hal-03650978

Lam-Hung Nguyen, Minh-Duc Hua, Guillaume Allibert, Tarek Hamel
A homography-based dynamic control approach applied to station keeping of autonomous underwater vehicles without linear velocity measurements.
IEEE Transactions on Control Systems Technology, 2021, 9 (5), hal-02069350

Zhiqi Tang, Rita Cunha, Tarek Hamel, Carlos Silvestre
Formation control of a leader–follower structure in three dimensional space using bearing measurements.
Automatica, 2021, 128, pp.109567. ⟨10.1016/j.automatica.2021.109567⟩, hal-03650988

Zhiqi Tang, Rita Cunha, David Cabecinhas, Tarek Hamel, Carlos Silvestre
Quadrotor going through a window and landing: An image-based visual servo control approach.
Control Engineering Practice, 2021, 112, pp.104827. ⟨10.1016/J.CONENGPRAC.2021.104827⟩, hal-03650973

Pieter van Goor, Robert Mahony, Tarek Hamel, Jochen Trumpf
Constructive observer design for Visual Simultaneous Localisation and Mapping.
Automatica, 2021, 132, pp.109803. ⟨10.1016/j.automatica.2021.109803⟩, hal-03650977

Charles-Olivier Artizzu, Haozhou Zhang, Guillaume Allibert, Cédric Demonceaux
OmniFlowNet: a Perspective Neural Network Adaptation for Optical Flow Estimation in Omnidirectional Images.
25th International Conference on Pattern Recognition (ICPR), Jan 2021, Milan, Italy, hal-02968191

Micha Bosshart, Guillaume Ducard, Christopher Onder
Comparison Between Two PID Neural Network Controller Approaches - Simulation and Discussion.
2021 IEEE International Conference on Control, Automation and Diagnosis (ICCAD), Nov 2021, Grenoble, France. pp.1-6, ⟨10.1109/ICCAD52417.2021.9638766⟩, hal-03507611

Li Fu, Jesús Sánchez-Rodríguez, Sardor Israilov, Guillaume Allibert, Christophe Raufaste, Médéric Argentina
Study of the fish locomotion using machine learning.
Fluids and Complexity Conference, Nov 2021, Nice, France, hal-03561029

Ihab S. Mohamed, Guillaume Allibert, Philippe Martinet
Sampling-Based MPC for Constrained Vision Based Control.
IROS 2021 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2021, Prague, Czech Republic. ⟨10.1109/IROS51168.2021.9635970⟩, lirmm-03313645

Griffin Norris, Guillaume Ducard, Christopher Onder
Neural Networks for Control: A Tutorial and Survey of Stability-Analysis Methods, Properties, and Discussions.
2021 IEEE International Conference on Electrical, Computer, Communications and Mechatronics Engineering (ICECCME), Oct 2021, Mauritius, Mauritius. pp.1-6, ⟨10.1109/ICECCME52200.2021.9590912⟩, hal-03507600

Zongwei Wu, Guillaume Allibert, Christophe Stolz, Chao Ma, Cédric Demonceaux
Modality-Guided Subnetwork for Salient Object Detection.
9th International Conference on 3D Vision, Dec 2021, Online, France, hal-03375042

2020
Minh-Duc Hua, Jochen Trumpf, Tarek Hamel, Robert Mahony, Pascal Morin
Nonlinear observer design on SL(3) for homography estimation by exploiting point and line correspondences with application to image stabilization.
Automatica, 2020, 115, pp.108858. ⟨10.1016/j.automatica.2020.108858⟩, hal-02924536

Konrad Rudin, Guillaume Ducard, Roland Siegwart
Active Fault Tolerant Control with Imperfect Fault Detection Information.
IEEE Transactions on Aerospace and Electronic Systems, 2020, 56 (4), pp.2792-2805, hal-02556008

Zhiqi Tang, Rita Cunha, Tarek Hamel, Carlos Silvestre
Bearing Leader-Follower Formation Control under Persistence of Excitation.
IFAC-PapersOnLine, 2020, 53 (2), pp.5671-5676. ⟨10.1016/j.ifacol.2020.12.1589⟩, hal-03651040

Simone de Marco, Minh-Duc Hua, Robert Mahony, Tarek Hamel
Homography Estimation of a Moving Planar Scene from Direct Point Correspondence.
IEEE Transactions on Control Systems Technology, In press, hal-03052452

Mike Allenspach, Guillaume Ducard
Model Predictive Control of a Convertible Tiltrotor Unmanned Aerial Vehicle.
28th IEEE Mediterranean Conference on Control and Automation (MED), Sep 2020, Saint-Raphaël, France. pp.715-720, ⟨10.1109/MED48518.2020.9183353⟩, hal-03189414

L. Bauersfeld, Guillaume Ducard
Fused-PID Control for Tilt-Rotor VTOL Aircraft.
28th IEEE Mediterranean Conference on Control and Automation (MED), Sep 2020, Saint-Raphaël, France. pp.703-708, ⟨10.1109/MED48518.2020.9183031⟩, hal-03189419

Guillaume Ducard, Philipp Kryenbühl
Flight Performance Comparison between CCA and WCA Control Allocation for Hexacopters.
IEEE Mediterranean Conference on Control and Automation, Sep 2020, Saint Raphael, France, hal-02556026

Tarek Hamel, Minh-Duc Hua, Claude Samson
Deterministic observer design for vision-aided inertial navigation.
CDC 2020 - 59th IEEE Conference on Decision and Control, Dec 2020, Jeju Island / Virtual, South Korea, hal-03052622

Minh-Duc Hua, Simone de Marco, Tarek Hamel, Randal W Beard
Relative pose estimation from bearing measurements of three unknown source points.
IEEE Conference on Decision and Control (CDC), 2020, Jeju Island (virtual ), South Korea, hal-03052573

Ninad Manerikar, Minh-Duc Hua, Simone de Marco, Tarek Hamel
Riccati observer design for homography decomposition.
European Control Conference, 2020, Saint Petersburg, Russia. ⟨10.23919/ECC51009.2020.9143740⟩, hal-03052530

Ihab S. Mohamed, Guillaume Allibert, Philippe Martinet
Model Predictive Path Integral Control Framework for Partially Observable Navigation: A Quadrotor Case Study.
16th International Conerence on Control, Automation, Robotics and Vision, Dec 2020, Shenzhen, China, hal-02545951

Yonhon Ng, Pieter van Goor, Tarek Hamel, Robert Mahony
Equivariant Systems Theory and Observer Design for Second Order Kinematic Systems on Matrix Lie Groups.
2020 59th IEEE Conference on Decision and Control (CDC), Dec 2020, Jeju, France. pp.4194-4199, ⟨10.1109/CDC42340.2020.9303761⟩, hal-03651032

Lukas Spannagl, Guillaume Ducard
Control Allocation of an Unmanned Hybrid Aerial Vehicle.
IEEE Mediterranean Conference on Control and Automation, Sep 2020, Saint Raphael, France. ⟨10.1109/MED48518.2020.9182865⟩, hal-02556045

Zhiqi Tang, Rita Cunha, Tarek Hamel, Carlos Silvestre
Bearing-only formation control under persistence of excitation.
2020 59th IEEE Conference on Decision and Control (CDC), Dec 2020, Jeju, France. pp.4011-4016, ⟨10.1109/CDC42340.2020.9304210⟩, hal-03651037

Zongwei Wu, Guillaume Allibert, Christophe Stolz, Cédric Demonceaux
Depth-Adapted CNN for RGB-D cameras.
15th Asian Conference on Computer Vision (Oral presentation), Nov 2020, Kyoto (Virtual conference), Japan, hal-02946902

Simone de Marco, Minh-Duc Hua, Tarek Hamel, Claude Samson
Position, Velocity, Attitude and Accelerometer-Bias Estimation from IMU and Bearing Measurements.
ECC 2020 - European Control Conference, Mar 2020, Saint Petersburg, Russia. ⟨10.23919/ECC51009.2020.9143918⟩, hal-03052517

Pieter van Goor, Tarek Hamel, Robert Mahony
Equivariant Filter (EqF): A General Filter Design for Systems on Homogeneous Spaces.
2020 59th IEEE Conference on Decision and Control (CDC), Dec 2020, Jeju, France. pp.5401-5408, ⟨10.1109/CDC42340.2020.9303813⟩, hal-03651030

Guillaume Allibert
Contributions à l’Estimation et à la Commande de Robots Mobiles Autonomes.
Robotique [cs.RO]. Université Côte d'Azur, 2020, tel-03483890

Roland Martin, Khellaf Rebbas, Errol Véla, Yassine Beghami, Abdelazize Franck Bougaham, Bounar Rabah, Lamia Boutabia, Gérard de Bélair, Aïssa Djamel Filali, Moussa Haddad, Karim Hadji, Tarek Hamel, Karel Kreutz, Amar Madoui, Walid Nemer, Telailia Salah, Sylviane Ludinant
Etude cartographique des orchidées de Kabylie, Numidie, Aurès (Algérie).
Société Méditerranéenne d’Orchidologie, 2020, hal-02483998

Jean-Marie Kai, Tarek Hamel, Claude Samson
A novel approach to dynamic soaring modeling and simulation.
2020, hal-02481563

2019
Guillaume Allibert, Minh-Duc Hua, Szymon Krupínski, Tarek Hamel
Pipeline following by visual servoing for Autonomous Underwater Vehicles.
Control Engineering Practice, 2019, 82, pp.151-160, hal-01920255

Minh-Duc Hua, Jochen Trumpf, Tarek Hamel, Robert Mahony, Pascal Morin
Feature-based Recursive Observer Design for Homography Estimation and its Application to Image Stabilization.
Asian Journal of Control, 2019, ⟨10.1002/asjc.2012⟩, hal-01764913

J.-M. Kai, Tarek Hamel, C. Samson
A unified approach to fixed-wing aircraft path following guidance and control.
Automatica, 2019, 108, pp.108491. ⟨10.1016/j.automatica.2019.07.004⟩, hal-03651003

Zhiqi Tang, Rita Cunha, Tarek Hamel, Carlos Silvestre
Aircraft Landing Using Dynamic Two-Dimensional Image-Based Guidance Control.
IEEE Transactions on Aerospace and Electronic Systems, 2019, 55 (5), pp.2104-2117. ⟨10.1109/TAES.2018.2881354⟩, hal-03651013

L. Bauersfeld, Guillaume Ducard
Low-cost 3D Laser Design and Evaluation with Mapping Techniques Review.
2019 IEEE Sensors Applications Symposium (SAS), Mar 2019, Sophia Antipolis, France. pp.1-6, ⟨10.1109/SAS.2019.8706006⟩, hal-02143353

Lam-Hung Nguyen, Minh-Duc Hua, Tarek Hamel
A nonlinear control approach for trajectory tracking of slender-body axisymmetric underactuated underwater vehicles.
European Control Conference, Jun 2019, Naples, Italy, hal-02043988

Benedict Simlinger, Guillaume Ducard
Vision-based Gyroscope Fault Detection for UAVs.
2019 IEEE Sensors Applications Symposium (SAS), IEEE, Mar 2019, Sophia Antipolis, France. pp.1-6, ⟨10.1109/SAS.2019.8705965⟩, hal-02143320

André Anglade, Jean-Marie Kai, Tarek Hamel, Claude Samson
Automatic control of convertible fixed-wing drones with vectorized thrust.
[Research Report] INRIA Sophia Antipolis - I3S. 2019, hal-02111045

Lam-Hung Nguyen, Minh-Duc Hua, Tarek Hamel
A homography-based dynamic control approach of Autonomous Underwater Vehicles observing a (near) vertical target without linear velocity measurements.
2019, hal-02069260

2018
Moses Bangura, Xiaolei Hou, Guillaume Allibert, Robert Mahony, Nathan Michael
Supervisory Control of Multirotor Vehicles in Challenging Conditions using Inertial Measurements.
IEEE Transactions on Robotics, 2018, 34 (6), pp.1490-1501, hal-01920269

Tarek Hamel, Claude Samson
Riccati Observers for the Non-Stationary PnP Problem.
IEEE Transactions on Automatic Control, 2018, 63 (3), pp.726-741. ⟨10.1109/TAC.2017.2726179⟩, hal-01629138

Pascal Morin, Claude Samson
Feedback control of a motorized skateboard.
IEEE Transactions on Automatic Control, 2018, 64 (2), pp.628-639. ⟨10.1109/TAC.2018.2830509⟩, hal-02308537

Minh-Duc Hua, Ninad Manerikar, Tarek Hamel, Claude Samson
Attitude, Linear Velocity and Depth Estimation of a Camera observing a planar target using continuous homography and inertial data.
IEEE International Conference on Robotics and Automation (ICRA), May 2018, Brisbane, Australia, hal-01878711

Minh-Duc Hua, Guillaume Allibert
Riccati Observer Design for Pose, Linear Velocity and Gravity Direction Estimation using Landmark Position and IMU Measurements.
2018 IEEE Conference on Control Technology and Applications, 2018, Copenhagen, Denmark, hal-01799278

Jean-Marie Kai, Andre Anglade, Tarek Hamel, Claude Samson
Design and Experimental Validation of a New Guidance and Flight Control System for Scale-Model Airplanes.
2018 IEEE Conference on Decision and Control (CDC), Dec 2018, Miami Beach, France. pp.4270-4276, ⟨10.1109/CDC.2018.8619827⟩, hal-03651401

Ninad Manerikar, Minh-Duc Hua, Tarek Hamel
Homography Observer Design on Special Linear Group SL(3) with Application to Optical Flow Estimation.
European Control Conference (ECC), Jun 2018, Limassol, Cyprus, hal-01878702

Zhiqi Tang, Rita Cunha, Carlos Silvestre, Tarek Hamel, Claude Samson
Going through a window and landing a quadrotor using optical flow.
2018 17th European Control Conference (ECC), Jun 2018, Limassol, France. pp.2917-2922, ⟨10.23919/ECC.2018.8550193⟩, hal-03651417

Zhiqi Tang, Rita Cunha, Tarek Hamel, Carlos Silvestre
Going through a window and landing a quadrotor using optical flow.
European Control Conference (ECC), Jun 2018, Limassol, Cyprus, hal-01926075

Jochen Trumpf, Robert Mahony, Tarek Hamel
On the structure of kinematic systems with complete symmetry.
2018 IEEE Conference on Decision and Control (CDC), Dec 2018, Miami Beach, France. pp.1276-1280, ⟨10.1109/CDC.2018.8619718⟩, hal-03651389

Simone de Marco, Minh-Duc Hua, Robert Mahony, Tarek Hamel
Homography estimation of a moving planar scene from direct point correspondence.
57th IEEE Conference on Decision and Control (CDC 2018), Dec 2018, Miami Beach, FL, United States, hal-01878699

2017
Tarek Hamel, Claude Samson
Position estimation from direction or range measurements.
Automatica, 2017, 82, pp.137-144. ⟨10.1016/j.automatica.2017.04.045⟩, hal-01629173

Szymon Krupínski, Guillaume Allibert, Minh-Duc Hua, Tarek Hamel
An Inertial-Aided Homography-Based Visual Servo Control Approach for (Almost) Fully Actuated Autonomous Underwater Vehicles.
IEEE Transactions on Robotics, 2017, 33 (5), pp.1041-1060. ⟨10.1109/TRO.2017.2700010⟩, hal-01544726

Minh-Duc Hua, Tarek Hamel, Claude Samson
Riccati observers for velocity-aided attitude estimation of accelerated vehicles using coupled velocity measurements.
CDC 2017 - 56th IEEE Conference on Decision and Control, Dec 2017, Melbourne, Australia. pp.1-7, hal-01629147

Minh-Duc Hua, Tarek Hamel, Claude Samson
Riccati nonlinear observer for velocity-aided attitude estimation of accelerated vehicles using coupled velocity measurements.
CDC 2017 - 56th IEEE Conference on Decision and Control, Dec 2017, Melbourne, Australia. pp.2428-2433, ⟨10.1109/CDC.2017.8264005⟩, hal-01628178

Minh-Duc Hua, Tarek Hamel, Robert Mahony, Guillaume Allibert
Explicit Complementary Observer Design on Special Linear Group SL(3) for Homography Estimation using Conic Correspondences.
56th IEEE Conference on Decision and Control (CDC), Dec 2017, Melbourne, Australia, hal-01628177

Jean-Marie Kai, Tarek Hamel, Claude Samson
A nonlinear approach to the control of a disc-shaped aircraft.
CDC 2017 - 56th IEEE Conference on Decision and Control, Dec 2017, Melbourne, Australia. pp.2750-2755, ⟨10.1109/CDC.2017.8264058⟩, hal-01629150

Jean-Marie Kai, Guillaume Allibert, Minh-Duc Hua, Tarek Hamel
Nonlinear feedback control of Quadrotors exploiting First-Order Drag Effects.
IFAC World Congress, Jul 2017, Toulouse, France, hal-01544740

Robert Mahony, Tarek Hamel
A geometric nonlinear observer for simultaneous localisation and mapping.
2017 IEEE 56th Annual Conference on Decision and Control (CDC), Dec 2017, Melbourne, France. pp.2408-2415, ⟨10.1109/CDC.2017.8264002⟩, hal-03651420

Lam-Hung Nguyen, Minh Duc Hua, Guillaume Allibert, Tarek Hamel
Inertial-aided Homography-based Visual Servo Control of Autonomous Underwater Vehicles without Linear Velocity Measurements.
ICSTCC, Oct 2017, Sinaia, Romania, hal-01627666

Minh-Duc Hua, Jochen Trumpf, Tarek Hamel, Robert Mahony, Pascal Morin
Point and line feature-based observer design on SL(3) for Homography estimation and its application to image stabilization.
[Research Report] I3S, Université Côte d'Azur; CNRS, University of Nice Sophia Antipolis, I3S, UMR 7271, COATI, Inria, 06900 Sophia Antipolis, France. 2017, hal-01628175

2016
Tarek Hamel, Claude Samson
Transverse function control of a motorboat.
Automatica, 2016, 65, ⟨10.1016/j.automatica.2015.11.040⟩, hal-01326787

Minh-Duc Hua, Philippe Martin, Tarek Hamel
Stability analysis of velocity-aided attitude observers for accelerated vehicles.
Automatica, 2016, 63, pp.11-15. ⟨10.1016/j.automatica.2015.10.014⟩, hal-01326788

Alireza Khosravian, Jochen Trumpf, Robert Mahony, Tarek Hamel
State estimation for invariant systems on Lie groups with delayed output measurements.
Automatica, 2016, 68, ⟨10.1016/j.automatica.2016.01.024⟩, hal-01326783

Pedro Serra, Rita Cunha, Tarek Hamel, David Cabecinhas, Carlos Silvestre
Landing of a Quadrotor on a Moving Target Using Dynamic Image-Based Visual Servo Control.
IEEE Transactions on Robotics, 2016, 32 (6), pp.1524-1535. ⟨10.1109/TRO.2016.2604495⟩, hal-03651019

Guillaume Allibert, Robert Mahony, Moses Bangura
Velocity Aided Attitude Estimation for Aerial Robotic Vehicles Using Latent Rotation Scaling.
IEEE International Conference on Robotics and Automation (ICRA 2016), May 2016, Stockholm, Sweden, hal-01308027

Tarek Hamel, Claude Samson
Riccati observers for position and velocity bias estimation from direction measurements.
CDC 2016 - Conference on Decision and Control, Dec 2016, Las Vegas, United States, hal-01426900

Simone de Marco, Lorenzo Marconi, Tarek Hamel, Rober Mahony
Output Regulation for Systems on Matrix Lie-group.
2016, hal-01326789

Tarek Hamel, Claude Samson
Riccati Observers for the non-stationary PnP problem.
2016, hal-01326999

Tarek Hamel, Claude Samson
Riccati observers for position and velocity bias estimation from either direction or range measurements.
2016, hal-01285143

2015
Guillaume Ducard
SMAC-FDI: Single Model Active Fault Detection and Isolation System for Unmanned Aircraft.
International Journal of Applied Mathematics and Computer Science, 2015, Special Issue on Safety, Fault Diagnosis and Fault Tolerant Control in Aerospace, 25 (1), hal-01301737

Daniele Pucci, Tarek Hamel, Pascal Morin, Claude Samson
Nonlinear feedback control of axisymmetric aerial vehicles.
Automatica, 2015, 53, pp.72 - 78. ⟨10.1016/j.automatica.2014.12.031⟩, hal-01377781

Pedro Serra, Rita Cunha, Tarek Hamel, Carlos Silvestre, Florent Le Bras
Nonlinear Image-Based Visual Servo Controller for the Flare Maneuver of Fixed-Wing Aircraft Using Optical Flow.
IEEE Transactions on Control Systems Technology, 2015, 23 (2), ⟨10.1109/TCST.2014.2330996⟩, hal-01342009

Moses Bangura, Frits Kuipers, Guillaume Allibert, Robert Mahony
Non-linear Velocity Aided Attitude Estimation and Velocity Control for Quadrotors.
16th Australasian Conference on Robotics and Automation, Dec 2015, Canberra, Australia, hal-01307968

Minh-Duc Hua, Tarek Hamel, Robert Mahony, Jochen Trumpf
Gradient-like observer design on the Special Euclidean group SE(3) with system outputs on the real projective space.
IEEE Conference on Decision and Control (CDC) , Dec 2015, Osaka, Japan. ⟨10.1109/CDC.2015.7402523⟩, hal-01341855

Alireza Khosravian, Jochen Trumpf, Robert Mahony, Tarek Hamel
Recursive attitude estimation in the presence of multi-rate and multi-delay vector measurements.
American Control Conference (ACC) , IEEE, Jul 2015, Chicago, United States. pp.3199 - 3205, ⟨10.1109/ACC.2015.7171825⟩, hal-01342000

Rudin Konrad, Mosimann Lukas, Guillaume Ducard, Roland Y. Siegwart
Robust Actuator Fault-tolerant Control using DK-Iteration: Theory and Application to UAS.
IFAC InternationaI Symposium on Fault Detection, Supervision and Safety of Technical Processes (SAFEPROCESS), Sep 2015, Paris, France. pp.392 - 397, hal-01301756

Szymon Krupinski, Remi Desouche, Narcis Palomeras, Guillaume Allibert, Minh-Duc Hua
Pool testing of AUV visual servoing for autonomous inspection.
4th IFAC Workshop onNavigation, Guidance and Control of Underwater Vehicles, Apr 2015, Girona, Spain. ⟨10.1016/j.ifacol.2015.06.045⟩, hal-01230498

Florent Le Bras, Tarek Hamel, Robert Mahony, Claude Samson
Observer design for position and velocity bias estimation from a single direction output.
CDC 2015 - 54th IEEE Conference on Decision and Control, Dec 2015, Osaka, Japan. pp.7648 - 7653, ⟨10.1109/CDC.2015.7403428⟩, hal-01377787

Robert Mahony, Tarek Hamel, Lorenzo Marconi
Adding an integrator for output regulation of systems with matrix Lie-group states.
IEEE American Control Conference (ACC) , Jul 2015, Chicago, United States. pp.4010 - 4015, ⟨10.1109/ACC.2015.7171956⟩, hal-01341975

Hadi Saoud, Minh Duc Hua, Frédéric Plumet, Faiz Ben Amar
Optimal sail angle computation for an autonomous sailboat robot.
IEEE Conference on Decision and Control (CDC), 2015, Osaka, Japan. pp.807-813, ⟨10.1109/CDC.2015.7402329⟩, hal-03135868

Hadi Saoud, Minh Duc Hua, Frédéric Plumet, Faiz Ben Amar
Routing and course control of an autonomous sailboat.
European Conference on Mobile Robots (ECMR'15), 2015, Lincoln, United Kingdom. ⟨10.1109/ECMR.2015.7324218⟩, hal-03135867

Zhiqi Tang, Linqian Li, Pedro Serra, David Cabecinhas, Tarek Hamel, Rita Cunha, Carlos Silvestre
Homing on a moving dock for a quadrotor vehicle.
TENCON , Nov 2015, Macau, China. ⟨10.1109/TENCON.2015.7373193⟩, hal-01326796

Tarek Hamel, Claude Samson
Control of a motorboat with the Transverse Function approach.
2015, ⟨10.1016/j.ifacol.2015.12.005⟩, hal-01326793

2014
Minh Duc Hua, Guillaume Ducard, Tarek Hamel, Robert Mahony, Rudin Konrad
Implementation of Nonlinear Attitude Estimators for Aerial Robotic Vehicles.
IEEE Transactions on Control Systems Technology, 2014, 22 (1), pp.201 - 213. ⟨10.1109/TCST.2013.2251635⟩, hal-01303078

Minh-Duc Hua, Guillaume Ducard, Tarek Hamel, Robert Mahony
Introduction to Nonlinear Attitude Estimation for Aerial Robotic Systems.
Aerospace Lab, 2014, pp.AL08-04. ⟨10.12762/2014.AL08-04⟩, hal-01113138

Florent Le Bras, Tarek Hamel, Robert Mahony, Christian Barat, Julien Thadasack
Approach maneuvers for autonomous landing using visual servo control.
IEEE Transactions on Aerospace and Electronic Systems, 2014, 50 (2), pp.1051 - 1065. ⟨10.1109/TAES.2013.110780⟩, hal-01342066

Daniele Pucci, Minh-Duc Hua, Pascal Morin, Tarek Hamel, Claude Samson
Nonlinear Feedback Control of VTOL UAVs.
Aerospace Lab, 2014, 8, pp.1-9. ⟨10.12762/2014.AL08-08⟩, hal-01184759

Henry de Plinval, Pascal Morin, Philippe Mouyon, Tarek Hamel
Visual servoing for underactuated VTOL UAVs: a linear, homography-based framework.
International Journal of Robust and Nonlinear Control, 2014, 24 (16), pp.2285-2308. ⟨10.1002/rnc.2987⟩, hal-01342064

Guillaume Allibert, Dinuka Abeywardena, Moses Bangura, Robert Mahony
Estimating Body-Fixed Frame Velocity and Attitude from Inertial Measurements for a Quadrotor Vehicle.
Multi-Conference on Systems and Control, Oct 2014, Antibes, France, hal-01075041

Guillaume Ducard, Rudin Konrad, Omari Sammy, Roland Y. Siegwart
Strategies for Sensor-fault Compensation on UAVs: Review, Discussions & Additions.
IEEE European Control Conference, Jun 2014, Strasbourg, France. pp.1963 - 1968, hal-01301772

Guillaume Ducard, Minh Duc Hua
Modeling of an Unmanned Hybrid Aerial Vehicle.
Multi-conference on Systems and Control, IEEE, Oct 2014, Antibes, France, hal-01301730

Minh-Duc Hua, Daniele Pucci, Tarek Hamel, Pascal Morin, Claude Samson
A novel approach to the automatic control of scale model airplanes.
53rd IEEE Conference on Decision and Control, Dec 2014, Los Angeles, United States. pp.805 - 812, ⟨10.1109/CDC.2014.7039480⟩, hal-01377807

Minh-Duc Hua, Tarek Hamel, Claude Samson
Control of VTOL Vehicles with Thrust-Tilting Augmentation.
19th World Congress. The International Federation of Automatic Control., Aug 2014, Cape Town, South Africa. pp.2237 - 2244, ⟨10.3182/20140824-6-ZA-1003.00097⟩, hal-01377793

Minh-Duc Hua, Guillaume Allibert, Szymon Krupínski, Tarek Hamel
Homography-based Visual Servoing for Autonomous Underwater Vehicles.
Proceedings of the 19th IFAC World Congress, 2014, Aug 2014, Cape Town, South Africa. ⟨10.3182/20140824-6-ZA-1003.01665⟩, hal-01075038

Jae-Yun Jun, Minh Duc Hua, Faïz Ben Amar
A trajectory tracking control design for a skid-steering mobile robot by adapting its desired instantaneous center of rotation.
IEEE Conference on Decision and Control, 2014, Los Angeles, United States. pp.4554-4559, ⟨10.1109/CDC.2014.7040100⟩, hal-03177946

Alireza Khosravian, Jochen Trumpf, Robert Mahony, Tarek Hamel
Velocity aided attitude estimation on SO(3) with sensor delay.
53rd IEEE Conference on Decision and Control , Dec 2014, Los Angeles, United States. pp.114 - 120, ⟨10.1109/CDC.2014.7039368⟩, hal-01342057

Rudin Konrad, Guillaume Ducard, Roland Y. Siegwart
Sensor Fault Detection for Aircraft Using a Single Kalman Filter and Hidden Markov Models.
IEEE Multi-conference on Systems and Control, Oct 2014, Antibes, France. pp.991 - 996, hal-01301765

Mosimann Lukas, Guillaume Ducard
Limitations in Total Weight for Solar Aircraft Designed for Infinite Flight.
IEEE Multi-conference on Systems and Control , Oct 2014, Antibes, France. pp.997 - 1002, hal-01301769

Lorenzo Rosa, Tarek Hamel, Robert Mahony, Claude Samson
Optical-Flow Based Strategies for Landing VTOL UAVs in Cluttered Environments.
19th World Congress. The International Federation of Automatic Control., Aug 2014, Cape Town, South Africa. pp.3176 - 3183, ⟨10.3182/20140824-6-ZA-1003.01616⟩, hal-01342055

Omari Sammy, Guillaume Ducard, Roland Y. Siegwart
Robust Metric Velocity Estimation For Non-Overlapping Camera Systems.
IEEE Multi-conference on Systems and Control , IEEE, Oct 2014, Antibes, France, hal-01301767

Pedro Serra, Rita Cunha, Tarek Hamel, David Cabecinhas, Carlos Silvestre
Landing on a moving target using image-based visual servo control.
53rd IEEE Conference on Decision and Control , Dec 2014, Los Angeles, United States. pp.0191-2216, ⟨10.1109/CDC.2014.7039721⟩, hal-01342060

Guillaume Ducard
Actuator Fault Detection in UAVs, in Handbook of Unmanned Aircraft.
Valavanis Kimon and Vachtsevanos George Handbook of Unmanned Aerial Vehicles, Springer, 2014, 978-90-481-9706-4, hal-01301749

Omari Sammy, Minh-Duc Hua, Guillaume Ducard, Tarek Hamel
Bilateral haptic teleoperation of an industrial multirotor UAV.
Gearing Up and Accelerating Cross‐fertilization between Academic and Industrial Robotics Research in Europe:, 94, Springer, pp.301-320, 2014, 978-3-319-03837-7. ⟨10.1007/978-3-319-03838-4_15⟩, hal-01342258

2013
Minh-Duc Hua, Tarek Hamel, Pascal Morin, Claude Samson
Introduction to feedback control of underactuated VTOLvehicles: A review of basic control design ideas and principles.
IEEE Control Systems Magazine, 2013, 33 (1), pp.61-75. ⟨10.1109/MCS.2012.2225931⟩, hal-01342412

Sammy Omari, Minh-Duc Hua, Guillaume Ducard, Tarek Hamel
Hardware and Software Architecture for Nonlinear Control of Multirotor Helicopters.
IEEE/ASME Transactions on Mechatronics, 2013, 18 (6), pp.1724 - 1736 ⟨10.1109/TMECH.2013.2274558⟩, hal-01342406

Guillaume Ducard
The SMAC Fault Detection and Isolation Scheme: Discussions, Improvements, and Application to a UAV.
2013 Conference on Control and Fault-Tolerant Systems (SysTol), IEEE, Oct 2013, Nice, France. pp.480 - 485, hal-01302193

Alexandre Eudes, Pascal Morin, Robert Mahony, Tarek Hamel
Visuo-inertial fusion for homography-based filtering and estimation.
IEEE/RSJ International Conference on Intelligent Robots and Systems , Nov 2013, Tokyo, Japan. pp.5186-5192, hal-01342408

Robert Mahony, Jochen Trumpf, Tarek Hamel
Observers for Kinematic Systems with Symmetry.
9th IFAC Symposium on Nonlinear Control Systems, Sep 2013, Toulouse, France. pp.617-633, ⟨10.3182/20130904-3-FR-2041.00212⟩, hal-01342264

Frédéric Plumet, Hadi Saoud, Minh Duc Hua
Line following for an autonomous sailboat using potential fields method.
MTS/IEEE Oceans 2013, 2013, Bergen, Norway. pp.1-6, hal-03135869

Daniele Pucci, Tarek Hamel, Pascal Morin, Claude Samson
Nonlinear control of aerial vehicles subjected to aerodynamic forces.
52nd IEEE Conference on Decision and Control, Dec 2013, Firenze, Italy. ⟨10.1109/CDC.2013.6760648⟩, hal-01343130

Omari Sammy, Minh-Duc Hua, Guillaume Ducard, Tarek Hamel
Bilateral haptic teleoperation of VTOL UAVs.
IEEE International Conference on Robotics and Automation (ICRA), , May 2013, Karlsruhe, Germany. pp.2393 - 2399, hal-01342411

Omari Sammy, Minh-Duc Hua, Guillaume Ducard, Tarek Hamel
Nonlinear control of VTOL UAVs incorporating flapping dynamics.
IEEE/RSJ International Conference on Intelligent Robots and Systems , Nov 2013, Tokyo, Japan. pp.2419 - 2425, ⟨10.1109/IROS.2013.6696696⟩, hal-01342407

Omari Sammy, Guillaume Ducard
Metric Visual-Inertial Ego-Motion Estimation Using Single Optical Flow Feature.
IEEE European Control Conference (ECC), IEEE, Jul 2013, Zurich, Switzerland. ⟨10.23919/ECC.2013.6669273⟩, hal-01302198

Hadi Saoud, Minh Duc Hua, Frédéric Plumet, Faiz Ben Amar
Modeling and control design of a robotic sailboat.
6th International Robotic Sailing Conference, 2013, Brest, France. pp.95-110, hal-03135870

Omari Sammy, Minh Duc Hua, Guillaume Ducard, Tarek Hamel
Bilateral Haptic Teleoperation of an Industrial Multirotor UAV.
Springer Tracts of Advanced Robotics (STAR), 2013, hal-01303074

Minh-Duc Hua, Tarek Hamel, Claude Samson
Control of VTOL Vehicles with Thrust-direction Tilting.
2013, hal-01342410

2012
B. Hérissé, Tarek Hamel, R. Mahony, F-X Russotto
Landing a VTOL Unmanned Aerial Vehicle on a Moving Platform Using Optical Flow.
IEEE Transactions on Robotics, 2012, 28 (1), pp.77 - 89 ⟨10.1109/TRO.2011.2163435⟩, hal-01342418

Robert Mahony, Tarek Hamel, Pascal Morin, Ezio Malis
Nonlinear complementary filters on the special linear group.
International Journal of Control, 2012, 85 (10), pp.1557-1573. ⟨10.1080/00207179.2012.693951⟩, hal-01342416

Jochen Trumpf, Robert Mahony, Tarek Hamel, Christian Lageman
Analysis of Non-Linear Attitude Observers for Time-Varying Reference Measurements.
IEEE Transactions on Automatic Control, 2012, 57 (11), pp.2789 - 2800. ⟨10.1109/TAC.2012.2195809⟩, hal-01342415

Guillaume Allibert, Estelle Courtial
Switching controller for efficient IBVS.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS12), Oct 2012, Vilamoura, Portugal. pp.1695-1701, hal-00751520

Guillaume Allibert, Estelle Courtial
Contrôleur à commutation pour l'asservissement visuel 2D.
Conférence Internationale Francophone d'Automatique (CIFA12), Jul 2012, Grenoble, France. pp.54-59, hal-00716771

Estelle Courtial, Matthieu Fruchard, Guillaume Allibert
Predictive Control of Chained Systems: a Necessary Condition on the Control Horizon.
International Conference on Robotics and Automation (ICRA12), May 2012, Saint Paul, United States. pp.109-114, hal-00716756

Matthieu Fruchard, Guillaume Allibert, Estelle Courtial
Choice of the control horizon in an NMPC strategy for the full-state control of nonholonomic systems.
American Control Conference (ACC12), 2012, Montreal, Canada. pp.4149-4154, hal-00716744

Szymon Krupinsky, Guillaume Allibert, Minh Duc Hua, Tarek Hamel
Pipeline tracking for fully-actuated autonomous underwater vehicle using visual servo control.
American Control Conference (ACC12), Jun 2012, Montreal, Canada. pp.6196-6202, hal-00716751

Thomas Schneider, Guillaume Ducard, Rudin Konrad, Strupler Pascal
Fault-tolerant Control Allocation for Multirotor Helicopters Using Parametric Programming.
International Micro Air Vehicle Conference and Flight Competition (IMAV), Jul 2012, Braunschweig, Germany, hal-01302202

Pedro Serra, Rita Cunha, Carlos Silvestre, Tarek Hamel
Visual servo aircraft control for tracking parallel curves.
51st IEEE Conference on Decision and Control (CDC) , Dec 2012, Maui, United States. pp.1148 - 1153, hal-01342413

Daniele Pucci, Tarek Hamel, Pascal Morin, Claude Samson
Modeling for Control of Symmetric Aerial Vehicles Subjected to Aerodynamic Forces.
2012, hal-01342414

Pascal Morin, Claude Samson
Feedback control of the general two-trailers system with the Transverse Function approach.
[Research Report] RR-7938, INRIA. 2012, pp.27, hal-00690532

Daniele Pucci, Tarek Hamel, Pascal Morin, Claude Samson
Modeling and Control of Bisymmetric Aerial Vehicles Subjected to Drag and Lift.
[Research Report] 2012, pp.6, hal-00685827

2011
Sylvain Bertrand, Nicolas Guénard, Tarek Hamel, Hélène Piet-Lahanier, Laurent Eck
A hierarchical controller for miniature VTOL UAVs: Design and stability analysis using singular perturbation theory.
Control Engineering Practice, 2011, 19 (10), pp.1099-1108. ⟨10.1016/j.conengprac.2011.05.008⟩, hal-01342422

Florent Le Bras, Tarek Hamel, Robert Mahony, Aurélie Treil
Output feedback observation and control for visual servoing of VTOL UAVs.
International Journal of Robust and Nonlinear Control, 2011, 21 (9), pp.1008-1030. ⟨10.1002/rnc.1638⟩, hal-01342424

R. Mahony, M. Euston, J. Kim, P. Coote, Tarek Hamel
A non-linear observer for attitude estimation of a fixed-wing unmanned aerial vehicle without GPS measurements.
Transactions of the Institute of Measurement and Control, 2011, 33 (6), pp.699-717. ⟨10.1177/0142331209343660⟩, hal-01342423

Tarek Hamel, Robert Mahony, Jochen Trumpf, Pascal Morin, Minh-Duc Hua
Homography estimation on the special linear group based on direct point correspondence.
50th IEEE Conference on Decision and Control and European Control Conference, Jul 2011, Orlando, United States. pp.7902 - 7908, hal-01342419

Minh-Duc Hua, Konrad Rudin, Guillaume Ducard, Tarek Hamel, Robert Mahony
Nonlinear attitude estimation with measurement decoupling and anti-windup gyro-bias compensation.
18th IFAC World Congress, Sep 2011, Milano, Italy. pp.2972-2978, ⟨10.3182/20110828-6-IT-1002.00817⟩, hal-01342428

Minh-Duc Hua, Zamani Behzad, Jochen Trumpf, Robert Mahony, Tarek Hamel
Observer design on the Special Euclidean group SE(3).
50th IEEE Conference on Decision and Control and European Control Conference , Dec 2011, Orlando, United States. pp.8169 - 8175, hal-01342421

Daniele Pucci, Tarek Hamel, Pascal Morin, Claude Samson
Nonlinear control of PVTOL vehicles subjected to drag and lift.
50th IEEE Conference on Decision and Control and European Control Conference, Dec 2011, Orlando, France. pp.6177 - 6183, hal-01342420

Hala Rifaï, Minh-Duc Hua, Tarek Hamel, Pascal Morin
Haptic-based bilateral teleoperation of underactuated Unmanned Aerial Vehicles.
18th IFAC World Congress, Aug 2011, Milano, Italy. pp.13782-13788, ⟨10.3182/20110828-6-IT-1002.02989⟩, hal-01342429

Henry de Plinval, Pascal Morin, Philippe Mouyon, Tarek Hamel
Visual servoing for underactuated VTOL UAVs: A linear, Homography-Based Approach.
IEEE International Conference on Robotics and Automation (ICRA), , May 2011, Shanghai, China, hal-01342426

Pascal Morin, Claude Samson
Control of two-steering-wheels vehicles with the Transverse Function approach.
[Research Report] RR-7528, INRIA. 2011, pp.22, inria-00564609

2010
Guillaume Allibert, Estelle Courtial, François Chaumette
Predictive Control for Constrained Image-Based Visual Servoing.
IEEE Transactions on Robotics, 2010, 26 (5), pp.933-939. ⟨10.1109/TRO.2010.2056590⟩, hal-00530203

Bruno Hérissé, Tarek Hamel, Robert Mahony, François-Xavier Russotto
A terrain-following control approach for a VTOL Unmanned Aerial Vehicle using average optical flow.
Autonomous Robots, 2010, 29 (3-4), pp.381-399. ⟨10.1007/s10514-010-9208-x⟩, hal-03907921

Bruno Hérissé, Tarek Hamel, Robert Mahony, Francois-Xavier Russotto
The landing problem of a VTOL Unmanned Aerial Vehicle on a moving platform using optical flow.
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Oct 2010, Taipei, France. pp.1600-1605, ⟨10.1109/IROS.2010.5652633⟩, hal-03908059

Bruno Hérissé, Sophie Oustrieres, Tarek Hamel, Robert Mahony, Francois-Xavier Russotto
A general optical flow based terrain-following strategy for a VTOL UAV using multiple views.
2010 IEEE International Conference on Robotics and Automation (ICRA 2010), May 2010, Anchorage, France. pp.3341-3348, ⟨10.1109/ROBOT.2010.5509536⟩, hal-03908053

Guillaume Allibert, Estelle Courtial, F. Chaumette
Visual servoing via Nonlinear Predictive control.
Chesi, G. and Hashimoto, K. Visual Servoing via Advanced Numerical Methods, LNCIS 401, Springer-Verlag, pp.375--394, 2010, inria-00548935

Minh-Duc Hua, Tarek Hamel, Hala Rifai, Pascal Morin, Claude Samson
Automatic Collision Avoidance for Teleoperated Underactuated Aerial Vehicles using Telemetric Measurements.
[Research Report] 2010, inria-00545662

Minh-Duc Hua, Claude Samson
Time sub-optimal nonlinear PI and PID controllers applied to longitudinal headway car control.
[Research Report] 2010, pp.17, inria-00545646

2009
O. Bourquardez, R. Mahony, N. Guenard, François Chaumette, Tarek Hamel, L. Eck
Image-based visual servo control of the translation kinematics of a quadrotor aerial vehicle.
IEEE Transactions on Robotics, 2009, 25 (3), pp.743-749, inria-00436722

Minh-Duc Hua, Tarek Hamel, Pascal Morin, Claude Samson
A Control Approach for Thrust-Propelled Underactuated Vehicles and its Application to VTOL Drones.
IEEE Transactions on Automatic Control, 2009, VOL. 54 (NO. 8), pp.1837-1853, hal-00415854

Guillaume Allibert, Estelle Courtial
What can Prediction Bring to Image-Based Visual Servoing ?.
IEEE International Conference on Intelligent Robots and Systems, Oct 2009, Saint Louis, United States, hal-01994125

Damien Brulin, Estelle Courtial, Guillaume Allibert
Visual Receding Horizon Estimation for human presence detection.
IEEE International Conference on Robotics and Automation (ICRA 2009), IEEE, May 2009, Kobe, Japan, hal-01994114

Damien Brulin, Estelle Courtial, Guillaume Allibert
Position Estimation and Fall Detection using Visual Receding Horizon Estimation.
48th IEEE Conference on Decision and Control and 28th Chinese Control Conference, Dec 2009, Sanghai, China, hal-01994105

Bruno Hérissé, Tarek Hamel, Robert Mahony, Francois-Xavier Russotto
A nonlinear terrain-following controller for a VTOL unmanned aerial vehicle using translational optical flow.
2009 IEEE International Conference on Robotics and Automation (ICRA), May 2009, Kobe, France. pp.3251-3257, ⟨10.1109/ROBOT.2009.5152295⟩, hal-03908050

Minh Duc Hua
Contributions to the automatic control of aerial vehicles.
Automatic. Université Nice Sophia Antipolis, 2009. English. ⟨NNT : ⟩, tel-00460801

2008
Nicolas Guenard, Tarek Hamel, Robert Mahony
A Practical Visual Servo Control for an Unmanned Aerial Vehicle.
IEEE Transactions on Robotics, 2008, 24 (2), pp.331-340. ⟨10.1109/TRO.2008.916666⟩, hal-00488385

R. Mahony, Tarek Hamel, Jean-Michel Pflimlin
Nonlinear Complementary Filters on the Special Orthogonal Group.
IEEE Transactions on Automatic Control, 2008, 53 (5), pp.1203-1217. ⟨10.1109/TAC.2008.923738⟩, hal-00488376

Guillaume Allibert, Estelle Courtial, Youssoufi Touré
Visual Predictive Control for Manipulators with Catadioptric Camera.
2008 IEEE International Conference on Robotics and Automation, May 2008, Pasadena, United States, hal-01994143

Guillaume Allibert, Estelle Courtial, Youssoufi Touré
Real-time visual predictive controller for image-based trajectory tracking of a mobile robot.
IFAC World Congress, Jul 2008, Seoul, South Korea, hal-01994078

O. Bourquardez, N. Guenard, Tarek Hamel, François Chaumette, R. Mahony, Laurent Eck
Kinematic visual servo controls of an X4-flyer: practical study.
Mediterranean Conf. on Intelligent Systems and Automation, CISA'08, 2008, Annaba, Algeria, France, inria-00351858

Bruno Hérissé, Francois-Xavier Russotto, Tarek Hamel, Robert Mahony
Hovering flight and vertical landing control of a VTOL Unmanned Aerial Vehicle using optical flow.
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2008, Nice, France. pp.801-806, ⟨10.1109/IROS.2008.4650731⟩, hal-03907955

Minh Duc Hua, Tarek Hamel, Pascal Morin, Claude Samson
Control of Thrust-Propelled Underactuated Vehicles.
[Research Report] RR-6453, INRIA. 2008, pp.42, inria-00258092

Pascal Morin, Claude Samson
Trajectory tracking for nonholonomic systems. Theoretical background and applications.
[Research Report] RR-6464, INRIA. 2008, pp.49, inria-00260694

2007
Tarek Hamel, Robert Mahony
Image based visual servo-control for a class of aerial robotic systems.
Automatica, 2007, 43, pp.1975 - 1983. ⟨10.1016/j.automatica.2007.03.030⟩, hal-00488389

Najib Metni, Tarek Hamel
Visual tracking control of aerial robotic systems with adaptative depth estimation.
International Journal of Control, Automation and Systems, 2007, 5 (1), pp 51-60, hal-00359962

Guillaume Allibert, Estelle Courtial, Youssoufi Touré
A Flat Model Predictive Controller For Trajectory Tracking In Image Based Visual Servoing.
IFAC Symposium on Nonlinear Control Systems, Aug 2007, Pretoria, South Africa. pp.993-998, ⟨10.3182/20070822-3-ZA-2920.00165⟩, hal-01994137

Guillaume Ducard, Emil Dumitrescu
Discrete controller synthesis for dependable trajectory generation.
ESREL, Jun 2007, Stavanger, Norway, hal-00375538

O. Bourquardez, Robert Mahony, Nicolas Guenard, François Chaumette, Tarek Hamel, Laurent Eck
Kinematic Visual Servo Control of a Quadrotor aerial vehicle.
[Research Report] PI 1858, 2007, pp.38, inria-00164387

2006
O. Bourquardez, Robert Mahony, Tarek Hamel, François Chaumette
Stability and performance of image based visual servo control using first order spherical image moments..
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'06, 2006, Beijing, China. pp.4304-4309, inria-00350282

Mauro Maya, Pascal Morin, Claude Samson
Sensor-based control of nonholonomic mobile robots.
[Research Report] RR-5944, INRIA. 2006, pp.45, inria-00083723

Pascal Morin, Claude Samson
Control with transverse functions and a single generator of underactuated mechanical systems.
[Research Report] RR-5847, INRIA. 2006, pp.20, inria-00070179

2005
Matthieu Fruchard, Pascal Morin, Claude Samson
A framework for the control of nonholonomic mobile manipulators.
[Research Report] RR-5556, INRIA. 2005, pp.52, inria-00070450

Pascal Morin, Claude Samson
Control of underactuated mechanical systems by the transverse function approach.
[Research Report] RR-5525, INRIA. 2005, pp.18, inria-00070482

2004
Nicolas Guenard, Tarek Hamel, Vincent Moreau
Modélisation et élaboration de commande de stabilisation de vitesse et de correction d'assiette pour un drone de type X4-flyer.
Conférence Internationale Francophone d'Automatique, 2004, Douz, Tunisie, hal-00090342

Guillaume Artus, Pascal Morin, Claude Samson
Control of a maneuvering mobile robot by the transverse function approach : control design and simulation results.
[Research Report] RR-5155, INRIA. 2004, pp.16, inria-00077042

2003
Abdelhamid Chriette, Tarek Hamel, Robert Mahony
Zero dynamics analysis for IBVS control of under-actuated rigid body dynamics.
7th IFAC Conference on Robot Control (Syroco'03), Sep 2003, Wroclaw, Poland. pp.00, hal-00362584

Guillaume Artus, Pascal Morin, Claude Samson
Tracking of an omnidirectional targetwith a unicycle-like robot:control design and experimental results.
RR-4849, INRIA. 2003, inria-00071734

Pascal Morin, Claude Samson
Practical and asymptotic stabilization of chained systems by the transverse function control approach.
RR-4712, INRIA. 2003, inria-00071874

2002
Hichem Arioui, Saïd Mammar, Tarek Hamel
A Smit h-prediction based Haptic Feedback Controller for Time Delayed Virtual Environments Systems.
American Control Conference, May 2002, Anchorage, United States. pp.4303-4309, hal-00702177

R. Mahony, Tarek Hamel, François Chaumette
A decoupled image space approach to visual servo control of a robotic manipulator..
IEEE Int. Conf. on Robotics and Automation, ICRA'02, 2002, Washington DC, United States. pp.3781-3786, inria-00352092

2001
Pascal Morin, Claude Samson
Practical Stabilization of Driftless Homogeneous Systems Based on the Use of Transverse Periodic Functions.
RR-4184, INRIA. 2001, inria-00072439

Pascal Morin, Claude Samson
Practical Stabilization of Driftless Systems on Lie Groups.
RR-4294, INRIA. 2001, inria-00072293

2000
Pascal Morin, Claude Samson
A characterization of the Lie Algebra Rank Condition by transverse periodic Functions.
RR-3873, INRIA. 2000, inria-00072781

1998
David A. Lizárraga, Pascal Morin, Claude Samson
Exponential Stabilization of Certain Configurations of the General N-Trailer System.
RR-3412, INRIA. 1998, inria-00073278

David A. Lizárraga, Pascal Morin, Claude Samson
Non-Robustness of Continuous Homogeneous Stabilizers for Affine Control Systems.
RR-3508, INRIA. 1998, inria-00073176

Pascal Morin, Claude Samson
Exponential Stabilization of Nonlinear Driftless Systems with Robustness to Unmodeled Dynamics.
RR-3477, INRIA. 1998, inria-00073212

1997
Pascal Morin, Claude Samson
Control of Nonlinear Chained Systems. From the Routh-Hurwitz Stability Criterion to Time-Varying Exponential Stabilizers.
RR-3126, INRIA. 1997, inria-00073563

1996
Ruddy Lelouche, Claude Samson
Hypermédias et apprentissage du droit des transactions commerciales internationales.
Troisième colloque Hypermédias et Apprentissages, May 1996, Châtenay-Malabry, France. pp.185-193, edutice-00000521

Charles François, Claude Samson
Energy Efficient Control of Running Legged Robots. A Case Study : The Planar One-Legged Hopper.
RR-3027, INRIA. 1996, inria-00073666

Pascal Morin, Claude Samson
Application of Backstepping Techniques to the Time-varying Exponential Stabilization of Chained Form Systems.
RR-2792, INRIA. 1996, inria-00073898

Pascal Morin, Jean-Baptiste Pomet, Claude Samson
Design of Homogeneous Time-Varying Stabilizing Control Laws for Driftless Controllable Systems Via Oscillatory Approximation of Lie Brackets In closed-loop.
RR-3077, INRIA. 1996, inria-00073615

1995
Pascal Morin, Claude Samson
Time-varying Exponential Stabilization of the Attitude of a Rigid Spacecraft with Two Controls.
RR-2493, INRIA. 1995, inria-00074182

1994
Jean-Baptiste Pomet, Claude Samson
Exponential stabilization of nonholonomic systems in power form.
IFAC Symposium on Robust Control Design, Sep 1994, Rio de Janeiro, Brazil, hal-02472062

Pascal Morin, Claude Samson, Jean-Baptiste Pomet, Zhong-Ping Jiang
Time-varying feedback stabilization of the attitude of a rigid spacecraft.
[Research Report] RR-2275, INRIA. 1994, inria-00074396

1993
Alain Micaelli, Claude Samson
Trajectory tracking for unicycle-type and two-steering-wheels mobile robots.
[Research Report] RR-2097, INRIA. 1993, inria-00074575

Jean-Baptiste Pomet, Claude Samson
Time-varying exponential stabilization of nonholonomic systems in power form.
[Research Report] RR-2126, INRIA. 1993, inria-00074546

Claude Samson
Mobile robot control Part 2 : control of chained systems and application to path following and time-varying point-stabilization of wheeled vehicles.
RR-1994, INRIA. 1993, inria-00074678

1992
Sylvie Icart, Juliette Leblond, Claude Samson
Stabilizing law for a flexible arm in torsion.
1992 IEEE International Conference on Robotics and Automation, May 1992, Nice, France. pp.794-799, ⟨10.1109/ROBOT.1992.220272⟩, hal-04207475

Sylvie Icart, Juliette Leblond, Claude Samson
Some results on feedback stabilization of a one-link flexible arm.
[Research Report] RR-1682, INRIA. 1992, inria-00076905

1991
Claude Samson
Preliminary results on time-varying feedback stabilization of a nonholonomic car-like mobile robot.
RR-1512, INRIA. 1991, inria-00075050

Claude Samson
Time-varying feedback stabilization of nonholonomic car-like mobile robots.
[Research Report] RR-1515, INRIA. 1991, pp.24, inria-00075048

1990
Bernard Espiau, François Chaumette, Patrick Rives
Une nouvelle approche de la relation vision-commande en robotique.
[Rapport de recherche] RR-1172, INRIA. 1990, inria-00075386

Claude Samson, Karim Ait-Abderrahim
Mobile robot control. Part 1 : Feedback control of nonholonomic wheeled cart in cartesian space.
[Research Report] RR-1288, INRIA. 1990, inria-00075271

1987
Claude Samson
Une approche pour la synthèse et l'analyse de la commande des robots manipulateurs rigides.
[Rapport de recherche] RR-0669, INRIA. 1987, inria-00075884

1983
Claude Samson
Commande non lineaire robuste des robots manipulateurs.
[Rapport de recherche] RR-0182, INRIA. 1983, inria-00076376

1982
Claude Samson
Stability analysis of adaptively controlled not-necessarily minimum phase systems with disturbances.
[Research Report] RR-0110, INRIA. 1982, inria-00076450

nombre publications = 225