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RECENT
PUBLICATIONS(from 2000)
Book
chapters
[1]
Mahony R. and Hamel T. Robust Non-linear Filters for Attitude
Estimation on micro UAVs. In Advances in Unmanned Aerial
Vehicles: State of the art and the road to autonomy. Springer Verlag,
2007 (32 pages).
[2]
Mahony R., Hamel T., Dzul-Lopez A. et Lozano R. Modelling and
Traking Control for Autonomous Helicopter. In
“Control of
nonlinear mechanical under-actuated systems”. Communications
and
control engineering series (Springer Verlag (2001)).
Journal
papers
[3]
Mahony R., Hamel T. and Pflimlin J-M., Non-linear
complementary
filters on the
Special
Orthogonal Group. Accepted as Regular paper, in
IEEE-Transactions
on
Automatic
Control.
[4] Metni N.
and Hamel T., A UAV for bridge's inspection: visual
servoing control
control
law with orientation limits. Elsevier-Internantional Journal
of
Automation in Construction (to appear).
[5] Guenard
N., Hamel T., and Mahony R. Practical Visual Servo
Control for a Unmanned Aerial
Vehicle. Conditionally accepted as Regular paper, in
IEEE-Transactions on Robotics and Automation.
[6] Mahony
R., Corke P. and Hamel T. Dynamic image-based visual servo
control using centroid
and optic flow features. Research Paper in Journal of Dynamic
Systems Measurement and Control (to appear).
[7] Hamel T.
and Mahony R. Image based visual servo-control for a
class of aerial robotic systems.
Accepted for publication in Automatica (9 pages).
[8] Pflimlin
J.-M., Souères P. and Hamel T., Hovering flight
stabilization of a ducted fan VTOL
UAV in crosswind. International Journal of Control, Vol.
80, No. 5, May 2007, 666–683.
[9]
Metni N. and Hamel T. Visual Tracking Control of Aerial
Robotic
Systems with
Adaptive
Depth Estimation. International Journal of Control,
Automation,
and Systems.
Vol.5,
No.1, pp.51-60, 2007.
[10]
Pflimlin J.-M., Hamel T., Soueres P. Nonlinear Attitude and
Gyroscope's Bias
Estimation
for a VTOL UAV. International Journal of Systems Science, Vol
38,
issue 3, pp. 197-210, 2007.
[11]
Metni N., Pflimlin J.M., Hamel T., Souères P. Attitude
and
Gyro Bias Estimation
for
a VTOL UAV. IFAC Journal on Control Engineering Practice,
Vol.
14, issue 1, p.
1511-1520,
2006.
[12]
Cadanat V., Souères P., Hamel T. A reactive
Path-following
controller to guarantee obstacle
avoidance during the transient phase. International Journal
of
Robotics and Automation,
Vol.21, No 4, pp.256-265, 2006.
[13]
Mahony R. and Hamel T. Image Based Visual Servo Control for
Tracking Linear Image Features.
Regular paper, IEEE-Transactions on Robotics and Automation, Vol 18,
No 2,
pp :187-198, 2005
[14]
Mahony R. and Hamel T. Robust trajectory tracking for a scale
model autonomous helicopter. International Journal of
Non-linear and Robust Control, Vol 14,
pp. 1035-1059,
2004.
[15]
- Dzul-Lopez A., Hamel T. et Lozano R. Modélisation
et
comande non linéaire pour un
hélicoptère bi-rotor co-axial.
Journal Européen
des Systèmes Automatisés,
série
JESA, Vol. 37, No 10, pp. 177-195, 2003.
[16]
Hamel T. and Mahony R. Visual servoing of an under-actuated
rigid
body system : An image based approach. Regular paper,
IEEE-Transactions on Robotics and Automation, Vol 18, No 2, pp.
187-198, 2002.
[17]
Hamel T. and Meizel D. On robustness and precision of wheeled
mobile robots displacements control. Automatica, Vol 37, pp.
437-444, 2001.
[18]
Hamel T., Souères P. and Meizel D. Path-following
with
security margin for mobile robots. International Journal of
Systems Science (IJSS)_, Vol 32, No 8, pp. 989-1002, 2001.
[19]
Mahony R. and Hamel T. Adaptive
compensation of aerodynamic effects during take-off and landing
manoeuvres for a scale model autonomous helicopter. European
Journal of Control (EJC), Vol 7, No 1, pp. 43-58, 2001.
International
Conferences
[20]
Euston M., Kim J. , Mahony R. and Hamel T., A Complementary
Filter for Attitude Estimation of a Fixed-Wing UAV with a Low-Cost
IMU. 6th International Conference on Field and Service
Robotics,
FSR’07, Chamonix
Mont-Blanc, France on July
9-12, 2007.
[21]
Bertrand S., Piet-Lahanier H.and Hamel T., Contractive Model
Predictive Control of an Unmanned Aerial Vehicle Model. 17th
IFAC
Symposium on Automatic Control in Aerospace, Toulouse, France, June
25-29, 2007.
[22]
Bertrand S., Hamel T. and Piet-Lahanier H., Trajectory
Tracking of
an Unmanned Aerial Vehicle Model using Partial State Feedback.
European Control Conference, Kos, Greece on July 2-5, 2007.
[23]
Le Bras F., Hamel T., Mahony R., Nonlinear Observer-Based
Visual
Control of a VTOL UAV. European Control Conference, Kos,
Greece
on July 2-5, 2007.
[26]
Pflimlin J-M, Binetti P., Trouchet D., Soueres P. and Hamel T., Aerodynamic
Modeling and Practical Attitude Stabilization of a
Ducted Fan UAV. European Control Conference, Kos, Greece on
July
2-5, 2007.
[24]
Baldwin G., Mahony R., Trumpf J., Hamel T., Complementary
filter
design on the Special Euclidean group SE(3). European Control
Conference, Kos, Greece on July 2-5, 2007.
[25]
Chevirond T., Hamel T., Mahony R. and Baldwin G. Robust
Nonlinear
Fusion of Inertial and Visual Data for position, velocity and
attitude estimation of UAV. IEEE International Conference on
Robotics and Automation - ICRA'2007, 10-14 April 2007, Roma, Italy.
[26]
Guenard N., Hamel T., Mahony R. A practical Visual Servo
Control
for a Unmanned Aerial Vehicle. IEEE International Conference
on
Robotics and Automation - ICRA'2007, 10-14 April 2007, Roma, Italy.
[27]
Bertrand S., Hamel T., Piet-Lahanier H. Stabilization of a
Small
Unmanned Aerial Vehicle Model without Velocity Measurement.
IEEE
International Conference on Robotics and Automation - ICRA'2007,
10-14 April 2007, Roma, Italy.
[28]
Binetti P., Pollini L., Innocenti M. and Hamel T. The Flight
Control System of the HoverEye VTOL UAV. TAVT-146 Symposium
"Platform Innovations and System Integration for Unmanned Air,
Land and Sea Vehicles", Florence, Italy, 14-17 May 2007.
[29]
Hamel T., Mahony R. Attitude estimation on SO(3) based on
direct
inertial measurements, IEEE International Conference on
Robotics
and Automation - ICRA'2006, Orlando, Florida, USA.
[30]
Pflimlin J.-M., Hamel T., Souères P., Mahony R. A
Hierarchical Control Strategy for the Autonomous Navigation of a
Ducted Fan Flying Robot, IEEE International Conference on
Robotics and Automation - ICRA'2006, Orlando, Florida, USA.
[31]
Guenard N., Hamel T., Moreau V. and Mahony R. Design of a
Controller Allowed the Intuitive Control of an X4-Flyer, 8th
International IFAC Symposium on Robot Control, SYROCO 2006, Bologna,
Italy, Sept. 2006.
[32]
Pflimlin J.-M., Hamel T., Souères P., Mahony R. Position
Control and Attitude Stabilization of a Ducted Fan VTOL UAV in
Crosswind. 8th International IFAC Symposium on Robot Control,
SYROCO 2006, Bologna, Italy, Sept. 2006.
[33]
Bertrand S., Hamel T. and Lahanier P. Performance Improvement
of
an Adaptive Controller using Model Predictive Control:
Application to an UAV Model, 4th IFAC Symposium on Mechatronic
Systems, 2006.
[34]
Le Bras F., Mahony R., Hamel T., Binetti P. Adaptive
Filtering and
image based visual servo control of a ducted fan flying robot,
Proceedings of the 45th IEEE Conference on Decision and Control 2006
(CDC06), San-Diego, USA, Dec. 2006.
[35]
Pflimlin J.-M., Souères P. and Hamel T. Waypoint
Navigation
Control of a VTOL UAV Amidst Obstacles, IEEE/RSJ
International
Conference on Intelligent Robots and Systems - IROS, Beijing, China,
Oct. 2006.
[36]
Guenard N., Hamel T. and Eck L. Control laws for the
teleoperation
of an aerial vehicle known as an X4-Flyer, IEEE/RSJ
International
Conference on Intelligent Robots and Systems - IROS, Beijing, China,
Oct. 2006.
[37]
Bourquardez O., Mahony R., Hamel T., Chaumette F. Stability
and
performance of image based visual servo control using first order
spherical image moments, IEEE/RSJ International Conference on
Intelligent Robots and Systems - IROS, Beijing, China, Oct. 2006.
[38]
Mahony R., Sung-Han C., and Hamel T. A coupled estimation and
control analysis for attitude stabilisation of mini aerial vehicles.
Australasian Conference on Robotics and Automation ACRA, Auckland,
6-8 Dec. 2006.
[39]
Mahony R., Hamel T., Pflimlin J.-M. Complementary filter
design on
the special orthogonal group SE(3), Proceedings of the 44th
IEEE
Conference on Decision and Control, and the European Control
Conference - CDC-ECC05, Seville, Spain, 2005.
[40]
Mahony R., Van Brasch A., Corke P., Hamel T. Dynamic image
based
visual servo control using centroid features. Proceedings of
the
44th IEEE Conference on Decision and Control, and the European
Control Conference - CDCECC05, Seville, Spain 205.
[41]
Metni N., Hamel T. Visual Tracking Control of Aerial Robotics
Systems with Adaptive Depth Estimation. Proceedings of the
44th
IEEE Conference on Decision and Control, and the European Control
Conference -CDC-ECC05, Seville, Spain, 2005.
[42]
Metni N., Pflimlin J.-M., Hamel T., Souères P. Attitude
and
Gyro Bias Estimation for a Flying UAV. International
Conference
on Intelligent Robots and Systems - IROS 2005 - IEEE-RSJ, Edmonton,
Canada: IEEE Press, Aug. 2005.
[43]
Pflimlin J.-M., Hamel T., Souères P. A Nonlinear
Observer
on SO(3) Group for Attitude and Gyro Bias Estimation for a Flying
UAV. 16th IFAC World Congress'2005, Prague,
République
Tchèque: Elsevier, July 2005.
[44]
Guénard N., Hamel T., Moreau V. Dynamic modelling
and
remote control design for an X4-Flyer, IEEE - 5th
International Conference on Control and Automation - ICCA'2005,
Budapest.
[45]
Metni N., Derkx F., Sorin J.L., Hamel T. The current use of
UAV
for civil applications: Bridge inspection and Trac surveillance.
UVS Tech - International Conference Unmanned Vehicle Systems
Technology, Bruxelles, Belgique : UVS Int., Nov.-Dec. 2004.
[46]
Pflimlin J.-M., Hamel T. and Souères P. Hovering
flight
stabilization in wind gusts for ducted fan UAV. 44th
Conference
on Decision and Control CDC'04.
[47]
Hamel T. and Mahony R. Pure 2D Visual Servo control for a
class of
under-actuated dynamic systems. International Conference
IEEE,
Robotics and Automation ICRA'2004.
[48]
Metni N., Hamel T. A UAV for Bridges' Inspection: Visual
Servoing
Control Law with Orientation Limits. IFAC Workshop on
Intelligent
Autonomous Vehicles IAV'04.
[49]
Metni N., Hamel T. Visual servoing based on homography
estimation
for the stabilization of an X4-Flyer. ECC 2003, 1-4 septembre
2003, Cambridge.
[50]
Chriette A., Hamel T., Mahony R. Zero-dynamics analysis for
IBVS
control of an under-actuated rigid body dynamics. 7th IFAC
Symposium Robot Control, SYROCO-2003.
[51]
Suter D., Hamel T. and Mahony R. Visual servo control using
homography estimation for the stabilization of an X4-Flyer.
41th
Conference on Decision and Control CDC'02, Las Vegas, 2002.
[52]
Hamel T., Mahony R. and Chriette A. Visual servo trajectory
tracking for a four rotor VTOL aerial vehicle. International
conference IEEE, Robotics and Automation ICRA'2002, pp 2781-2786.
[53]
Mahony R., Hamel T. and Chaumette F. A Decoupled Image Space
Approach to Visual Servo Control of a Robotic Manipulator.
International conference IEEE, Robotics and Automation ICRA'2002, pp
3781-3786.
[54]
Hamel T., Mahony R., Lozano R. and Ostrowski J. Dynamic
Modelling
and Con_guration Stabilization for an X4-Flyer. 15th
IFAC World Congress'2002.
[55]
Dzul-Lopez A., Hamel T. and Lozano R. Nonlinear Control for a
Tandem Rotor Helicopter. 15th IFAC
World
Congress'2002.
[56]
Dzul-Lopez A., Hamel T. and Lozano R. Modeling and Nonlinear
Control for a Coaxial Helicopter. IEEE International
Conference
on Systems, Man and Cybernetics, SMC'02.
[57]
Arioui H., Mammar S. and Hamel T. A semi-prediction based
Haptic
feedback controller for time delayed virtual environment systems.
ACC'02, American Control Conference 2002.
[58]
Chriette A., Hamel T. and Mahony R. Visual servoing for
autonomous
helicopter. International. IEEE-International Conference on
Robotics and Automation ICRA'2001', pp. 1701-1706, Corée en
mai 2001.
[59]
Mahony R. and Hamel. Visual servoing using linear features for
under-actuated rigid body dynamics. International Conference
IEEE
IROS'2001, pp. 1153-1158, Hawaii, USA, 2001.
[60]
Dzul-Lopez A., Hamel T. and Lozano R. A new control strategy
based
on dynamic reduction for an automous helcopter. European
Control
Conference ECC'2001.
[61]
Mahony R. and Hamel T. Vision for Mobile Autonomous Robots :
Navigation, Dynamics and Control Tutorial T1 International Conference
on Robotics and Automation ICRA'2000 (organised by R. Mahony T.
Hame).
[62]
Hamel T. and Mahony R. Visual servoing of fully actuated
dynamic
systems using a robust backstepping design. 6th IFAC
Symposium
Robot Control SYROCO'2000, Vienne, Autriche.
[63]
Hamel T. and Mahony R. Robust Visual Servoing For
Under-Actuated
Dynamic Systems. 39th Conference on Decision and Control
CDC'2000, Sydney.
[64]
Mahony R. and Hamel T. Lyapunov Tracking Control for Unmanned
Aerial Vehicles using Local Measurements. 39th Conference on
Decision and Control CDC'2000, Sydney.
[65]
Mahony R., Hamel T and Chriette A. Adaptive estimation of
aerodynamic forces for hover control of a reduced scale autonomous
helicopter. 6th IFAC Symposium Robot Control SYROCO'2000,
Vienne,
Autriche.
[66]
Bestaoui Y. and Hamel T. Dynamic modelling of small autonomous
blimps. 6th Internatinal Conference on Methods in Automation
and
Robotics MMAR'2000, Miedzyzdroje, Pologne, Août 2000 (Invited
paper).
National
Conferences
[67]
Bertrand S.,
Piet-Lahanier H., Hamel T., Stabilisation d'un
modèle de
drone miniature sans mesure de vitesse. Les 2e
JD-JN-MACS, Reims juillet, 2007.
[68]
Hamel T. et Souères
P. Modélisation, estimation et contrôle
des drones à
voilures tournantes : Un aperçu des projets de recherche
français. 4ième Journées
Nationales de
Recherche en Robotique (Conférence invitée), 2005.
[69]
Hamel T., Eck L.,
Chaumette F. et Chriette A. Rapport final du projet ROBVOLINT
(ROBot VOLant d'INTérieur). Journées
Robea, 3-4
avril 2006, Paris (9 pages).
[70]
Hamel T., Moreau V.,
Chaumette F. et Chriette A. Etat d'avancement du projet
ROBVOLINT
(ROBot VOLant d'INTérieur). Journées
Robea, 29-31
mars 2005, Montpellier, pp. 57-63.
[71]
Guénard N.,
Hamel T., Moreau V., Modélisation et
élaboration de
commande de stabilisation de vitesse et de correction d'assiette pour
un drone de type X4-Flyer. CIFA'2004.
[72]
Lozano R., Hamel T., Brogliato B. et Pégard C. Modelling,
Control and localisation of hovering systems. Journées
Robea, Toulouse, 24-25 octobre 2002.
[73]
Dzul-Lopez A., Hamel
T., Lozano R. Modélisation et Commande
non-linéaire
pour un hélicoptère bi-rotor coaxial.
Dans
CIFA'2002.
[74]
Chriette A., Simler
J., Hamel T. Suivi de trajectoires par vision et commande
adaptative : Application à un
hélicoptère
miniature. CIFA'2002.
[75]
Chriette A., Mahony
R., Hamel T. Evaluation adaptative des forces
aérodynamiques
pour la commande d'hélicoptère de petite taille
en mode
de vol proche du vol stationnaire. CIFA'2000,
Lille, Juillet 2000.
Other
publications
[77]
Bertrand S., Hamel T. and Piet-Lahanier H., Partial State
Feedback
Stabilization of an Unmanned Aerial Vehicle Model.Internal
report, ISRN I3S/RR-2007-02-FR.
[78]
Mahony R., Hamel T., P_imlin J.-M., A Study of non-linear
complementary filter design for kinematic systems on the special
orthogonal group. Internal report: ISRN I3S/RR-2006-36-FR
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