Platooning of Car-Like Vehicles in Urban Environments: Longitudinal Control Considering Actuator Dynamics, Time Delays, and Limited Communication Capabilities

Autor: Ahmed Khalifa, Olivier Kermorgant, Salvador Dominguez, Philippe Martinet

Publikováno v: IEEE Transactions on Control Systems Technology
IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2020, ⟨10.1109/TCST.2020.3044786⟩
IEEE Transactions on Control Systems Technology, 2020, ⟨10.1109/TCST.2020.3044786⟩

International audience; This paper proposes a longitudinal control framework for platooning in an urban environment. The targetted application is to redistribute vehicles involved in car-sharing systems, where only the leader vehicle is human-driven.

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::62c7494b198b75a780966d5b2a8047e8
https://doi.org/10.1109/tcst.2020.3044786

Super-Twisting Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator

Autor: Hardy Azmir Bin Anuar, Franck Plestan, Abdelhamid Chriette, Olivier Kermorgant

Publikováno v: 16th International Workshop on Variable Structure Systems
16th International Workshop on Variable Structure Systems, Sep 2022, Rio de Janeiro, Brazil

International audience; This paper presents the control of an aerial manipulator composed of a quadrotor and a manipulator with two degrees of freedom (2 DOF). There is a strong physical coupling between the dynamics of the UAV and the manipulator ar

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::ff07807c97cfd2605b4100dcee8353ea
https://hal.science/hal-03749293

A Gazebo Simulator for Continuum Parallel Robots

Autor: Andrea Gotelli, Federico Zaccaria, Olivier Kermorgant, Sébastien Briot

Publikováno v: 18th International Symposium on Advances in Robot Kinematics (ARK 2022)
18th International Symposium on Advances in Robot Kinematics (ARK 2022), Jun 2022, Bilbao, Spain
Advances in Robot Kinematics 2022 ISBN: 9783031081392

International audience

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::ef784d907c059d8b60fb15407fd2c060
https://hal.science/hal-03594927

Complete Singularity Analysis for the Perspective-Four-Point Problem

Autor: Philippe Martinet, Mohab Safey El Din, Abhilash Nayak, Beatriz Pascual-Escudero, François Chaumette, Sébastien Briot, Olivier Kermorgant

Publikováno v: International Journal of Computer Vision
International Journal of Computer Vision, 2021, 129 (4), pp.1217-1237. ⟨10.1007/s11263-020-01420-0⟩
International Journal of Computer Vision, Springer Verlag, 2021, 129 (4), pp.1217-1237. ⟨10.1007/s11263-020-01420-0⟩

International audience; This paper is concerned with pose estimation and visual servoing from four points. We determine the configurations for which the corresponding Jacobian matrix becomes singular, leading to inaccurate and unstable results. Using

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::27fc3d4fdf17107a56f512bf60965c5b
https://hal.science/hal-03070525/document

Consensus-based formation control and obstacle avoidance for nonholonomic multi-robot system

Autor: Lamia Belouaer, Daravuth Koung, Isabelle Fantoni, Olivier Kermorgant

Publikováno v: International Conference on Control, Automation, Robotics and Vision (ICARCV)
International Conference on Control, Automation, Robotics and Vision (ICARCV), Dec 2020, Shenzhen, China. ⟨10.1109/ICARCV50220.2020.9305426⟩
ICARCV

International audience; Managing multiple robots into a formation can be beneficial, especially in logistics sectors where multiple robots can work together to transport larger loads. This paper presents a consensus control law for formation with nav

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::df6dd40d3f496ac4d16356b6181ec2f8
https://hal.archives-ouvertes.fr/hal-02933732/file/2020_ICARCV_Koung_multi-robot.pdf