Publications

2024 - Journal papers
	Continuous Online Semantic Implicit Representation for Autonomous Ground Robot Navigation in Unstructured Environments Q. Serdel, J. Marzat, J. Moras Robotics, 2024 Link
	Distributed Bipartite Containment Tracking over Signed Networks with Multiple Leaders P. Sekercioglu, I. Sarras, A. Loria, E. Panteley, J. Marzat IEEE Transactions on Control of Networked Systems TCNS, 2024 Link
	Robust Formation Control of Robot Manipulators with Inter-agent Constraints over Undirected Signed Networks P. Sekercioglu, B. Jayawardhana, I. Sarras, A. Loria, J. Marzat IEEE Transactions on Control of Networked Systems TCNS, 2024 Link
	Leader-follower and leaderless bipartite formation-consensus over undirected coopetition networks and under proximity and collisionavoidance constraints P. Sekercioglu, I. Sarras, A. Loria, E. Panteley, J. Marzat International Journal of Control, 2024 Link
	Set-membership target search and tracking with cooperating UAVs using vision systems M. Zagar, L. Meyer, M. Kieffer, H. Piet-Lahanier arXiv:2403.15113v2, 2024 Link
Image	A Case Study of Semantic Mapping and Planning for Autonomous Robot Navigation S. Achat, Q. Serdel, J. Marzat, J. Moras SN Computer Science, 5(55) 2024 Link
2024 - Conference papers
	Model-Free versus Model-Based Reinforcement Learning for Fixed-Wing UAV Attitude Control Under Varying Wind Conditions D. Olivares, P. Fournier, P. Vasishta, J. Marzat ICINCO, 2024 Link
	Formation Control of Cooperative-Competitive Robot Manipulators with Inter-agent Constraints P. Sekercioglu, B. Jayawardhana, I. Sarras, A. Loria, J. Marzat IFAC MICNON, 2024 Link
	Smooth Path Planning Using a Gaussian Process Regression Map for Mobile Robot Navigation Q. Serdel, J. Marzat, J. Moras IFAC Workshop on Robot Motion Control (RoMoCo), 2024 Link
	DroPong: Enthusing Learners about Control Engineering by Revisiting the Pong Game with Aerial and Ground Drones S. Bertrand, C. Stoica, A. Thakker, C. Croon, A. Hanne, C. Hosxe, S. Kretz, A. Mol, A. Philippe 2024 European Control Conference (ECC) Link
	Commande prédictive distribuée sous contraintes de partitionnement pour une flotte de robots mobiles S. Bertrand, M. Zodros 2ème Congrès Annuel de la SAGIP, 2024 Link
	Feedback on Drone Arenas-based Remote international Teaching – DAReTeach C. Stoica, S. Bertrand, L. Burlion 2024 IFAC Workshop on Aerospace Control Education Link
	Safe Deep Reinforcement Learning Control with Self-Learned Neural Lyapunov Functions and State Constraints P. Cocaul, S. Bertrand, H. Piet-Lahanier 10th International Conference on Control, Decision and Information Technologies CoDIT 2024 Link
	SETCMAS: An easy-to-use software stack to facilitate Simulations and Experiments in Teaching Control of Multi-Agent Systems S. Bertrand 2024 European Control Conference (ECC) Link + Open-source code
2023 - Journal papers
	Localization of Partially Hidden Moving Targets Using a Fleet of UAVs via Bounded-Error Estimation J. Ibenthal, L. Meyer, H. Piet-Lahanier, M. Kieffer IEEE Transactions on Robotics, 2023 Link
	Distributed Control for Multi-Robot Interactive Swarming Using Voronoi Partioning A. Eudes, S. Bertrand, J. Marzat, I. Sarras Drones, 7(10), 2023. Link
Image	A Multi-Robot System for 3D Surface Reconstruction with Centralized and Distributed Architectures G. Hardouin, J. Moras, F. Morbidi, J. Marzat, E.M. Mouaddib IEEE Transactions on Robotics, 2023. Pdf
Image	Multi-vehicle localization by distributed MHE over a sensor network with sporadic measurements: Further developments and experimental results A. Venturino, C. Stoica Maniu, S. Bertrand, T. Alamo, E. F. Camacho Control Engineering Practice, vol. 132, 2023. Pdf - [CEP Best paper Award]
2023 - Conference papers
	Set-membership vs. stochastic approaches for target localization with UAVs J. Ibenthal, M. Kieffer, H. Piet-Lahanier, L. Meyer IFAC-PapersOnLine, 56(2), 3326-3333, 2023 Link
	Cooperative Localization of an UAV Fleet using Distributed MHE with EKF Pre-estimation and Nonlinear Measurements M. Borelle, S. Bertrand, C. Stoica, T. Alamo, E.F. Camacho 27th International Conference on System Theory, Control and Computing (ICSTCC), 2023 Link
	Distributed Event-Triggered Leader-Follower Consensus of Nonlinear Multi-Agent Systems M. Marchand, V. Andrieu, S. Bertrand, H. Piet-Lahanier 31st Mediterranean Conference on Control and Automation (MED), 2023 Link + Extended version
	Handling Uncertainties in Ground Risk Buffer Computation for Risk Assessment and Preparation of UAV Operations S. Bertrand, S. Lala, N. Raballand International Conference on Unmanned Aircraft Systems (ICUAS), 2023 Link
	A Short Curriculum on Robotics with Hands-On Experiments in Classroom Using Low-Cost Drones S. Bertrand, C. Trabelsi, L. Prevost International Conference on Robotics in Education (RiE), 2023 Link
	Bipartite Formation over Undirected Signed Networks with Collision Avoidance P. Sekercioglu, I. Sarras, A. Loria, E. Panteley, J. Marzat 62nd IEEE Conference on Decision and Control, December 13-15, Marina Bay Sands, Singapore, 2023 Link
	Curved Surface Inspection by a Climbing Robot: Path Planning Approach for Aircraft Applications S. Achat, J. Marzat, J. Moras 20th International Conference on Informatics in Control, Automation and Robotics (ICINCO), November 13-15, Roma, Italy, 2023 Link
	SMaNa: Semantic Mapping and Navigation Architecture for Robotic Exploration Q. Serdel, J. Marzat, J. Moras 20th International Conference on Informatics in Control, Automation and Robotics (ICINCO), November 13-15, Roma, Italy, 2023 Link
	Deep Learning of a Communication Policy for an Event-Triggered Observer for Linear Systems M. Marchand, V. Andrieu, S. Bertrand, S. Janny, H. Piet-Lahanier IFAC-PapersOnLine, 56(2), 5261-5268, 2023 Link
Image	Exponential Bipartite Containment Tracking over Multi-leader Coopetition Networks P. Sekercioglu, E. Panteley, I. Sarras, A. Loria, J. Marzat American Control Conference, San Diego, CA, USA, 2023 Pdf
2022 - PhD Theses
Image	A centralized and distributed multi-robot system for 3D surface reconstruction of unknown environments G. Hardouin Pdf
Image	Pistage multi-cibles par méthodes ensemblistes non-linéaires J. Ibenthal Link
Image	Estimation d'état distribuée sous contraintes pour une mission de surveillance multi-capteurs multi-robots A. Venturino Link
2022 - Journal papers / Chapters
Image	Robust Consensus of High-Order Systems under Output Constraints: Application to Rendezvous of Underactuated UAVs E. Restrepo, A. Loria, I. Sarras, J. Marzat IEEE Transactions on Automatic Control, 2022. Pdf
Image	Autonomous Unmanned Heterogeneous Vehicles for Persistent Monitoring V. Lappas, H.-S. Shin, A. Tsourdos, D. Lindgren, S. Bertrand, J. Marzat, H. Piet-Lahanier, Y. Daramouskas, V. Kostopoulos Drones, vol. 6, 2022. Pdf
Image	Sharing visual-inertial data for collaborative decentralized simultaneous localization and mapping R. Dubois, A. Eudes, V. Frémont Robotics and Autonomous Systems, vol. 148, 2022. Pdf
Image	Learning-based vs Model-free Adaptive Control of a MAV under Wind Gust T. Chaffre, J. Moras, A. Chan-Hon-Tong, J. Marzat, K. Sammut, G. Le Chenadec, B. Clement Springer Lecture Notes in Electrical Engineering, Informatics in Control, Automation and Robotics, 2022. Pdf
Image	Distributed Event-Triggered Formation Control of Multi-Agent Systems in Presence of Packet Losses C. Viel, M. Kieffer, H. Piet-Lahanier, S. Bertrand Automatica, vol. 141, 2022. Pdf
2022 - Conference papers
Image	Towards generic object property estimation using Unsupervised Reinforcement Learning M. Chareyre, P. Fournier, J. Moras, Y. Mezouar, J.-M. Bourinet IEEE IROS Workshop on Mobile Manipulation and Embodied Intelligence (MOMA): Challenges and Opportunities, 2022. Pdf
Image	Consensus of Open Multi-agent Systems over Dynamic Undirected Graphs with Preserved Connectivity and Collision Avoidance E. Restrepo, A. Loria, I. Sarras, J. Marzat IEEE CDC, Cancun, Mexico, 2022. Pdf
Image	A Comparison of Two Decoupled Methods for Simultaneous Multiple Robots Path Planning B. Bouvier, J. Marzat 16th International Symposium on Distributed Autonomous Robotic Systems (DARS), Montbéliard, France, 2022. Pdf
Image	Safe Distributed Control for Human-Multi-Robot Swarming using Voronoi Partioning S. Bertrand, A. Eudes, J. Marzat, I. Sarras IROS Workshop on Human-Multi-Robot Systems: Challenges for Real World Applications, 2022. Pdf
Image	Online Localisation and Colored Mesh Reconstruction Architecture for 3D Visual Feedback in Robotic Exploration Missions Q. Serdel, C. Grand, J. Marzat, J. Moras IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022. Pdf
Image	Path Planning Incorporating Semantic Information for Autonomous Robot Navigation S. Achat, J. Marzat, J. Moras International Conference on Informatics in Control, Automation and Robotics (ICINCO), Lisbon, Portugal, 2022. Pdf
Image	Railway Lidar Semantic Segmentation With Axially Symmetrical Convolutional Learning A. Manier, J. Moras, J.-C. Michelin, H. Piet-Lahanier ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 2022. Pdf
Image	Robust Rendezvous Control of UAVs with Collision Avoidance and Connectivity Maintenance E. Restrepo, A. Loria, I. Sarras, J. Marzat American Control Conference, 2022. Pdf
Image	Multi-Vehicle System Localization by Distributed Moving Horizon Estimation over a Sensor Network with Sporadic Measurements A. Venturino, S. Bertrand, C. Stoica Maniu, T. Alamo, E. F. Camacho IEEE Conference on Control Technology and Applications, 2022. Pdf
Image	Risk-Aware Guidance of a Fixed-Wing UAV using Neural Network Model Predictive Control P. Bérard, S. Bertrand, B. Levasseur International Conference on Unmanned Aircraft Systems, 2022. Pdf
2021 - Journal papers
Image	Bounded-error target localization and tracking using a fleet of UAVs J. Ibenthal, M. Kieffer, L. Meyer, H. Piet-Lahanier, S. Reynaud Automatica, vol. 132, 2021. Pdf
Image	Edge-based Strict Lyapunov Functions for Consensus with Connectivity Preservation over Directed Graphs E. Restrepo, A. Loria, I. Sarras, J. Marzat Automatica, vol. 132, 2021. Pdf
Image	Wireless Sensor Network for Tactical Situation Assessment B. Pannetier, J. Dezert, J. Moras, R. Levy IEEE Sensors Journal, 2021. Pdf
Image	OV²SLAM: A Fully Online and Versatile Visual SLAM for Real-Time Applications M. Ferrera, A. Eudes, J. Moras, M. Sanfourche, G. Le Besnerais IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 1399-1406, 2021. Pdf
Image	Distributed Moving Horizon State Estimation for Sensor Networks with Low Computation Capabilities A. Venturino, C. Stoica Maniu, S. Bertrand, T. Alamo, E. F. Camacho System Theory, Control and Computing Journal, vol. 1, no. 1, 2021. Pdf
2021 - Conference papers
Image	Localization of partially hidden targets using a fleet of UAVs via robust bounded-error estimation J. Ibenthal, L. Meyer, H. Piet-Lahanier, M. Kieffer IEEE Conference on Decision and Control, Austin, TX, USA, 2021. Pdf
Image	Nonlinear Estimation of Sensor Faults With Unknown Dynamics for a Fixed Wing Unmanned Aerial Vehicle E. Iglesis, N. Horri, K. Dahia, J. Brusey, H. Piet-Lahanier IEEE International Conference on Unmanned Aircraft Systems (ICUAS), 2021. Pdf
Image	Teaching by Practice the Basis of Consensus for Multi-Agent Systems S. Bertrand, C. Stoica Maniu, C. Vlad IFAC Workshop on Aerospace Control Education, 2021. Pdf
Image	Distributed full-consensus control of multi-robot systems with range and field-of-view constraints E. Restrepo, A. Loria, I. Sarras, J. Marzat IEEE International Conference on Robotics and Automation, 2021. Pdf
Image	A New l-step Neighborhood Distributed Moving Horizon Estimator A. Venturino, S. Bertrand, C. Stoica Maniu, T. Alamo, E. F. Camacho IEEE Conference on Decision and Control, 2022. Pdf
2021 - PhD Theses
Image	Coordination control of autonomous robotic multi-agent systems under constraints E. Restrepo Pdf
Image	Partage d’informations visuelles et inertielles pour la cartographie et la localisation simultanées multi-robot décentralisées R. Dubois Pdf
2020 - Conference papers
Image	Dense Decentralized Multi-robot SLAM based on locally consistent TSDF submaps R. Dubois, A. Eudes, J. Moras, V. Frémont IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020. Pdf
Image	Target search and tracking using a fleet of UAVs in presence of decoys and obstacles J. Ibenthal, L. Meyer, H. Piet-Lahanier, M. Kieffer 59th IEEE Conference on Decision and Control (CDC), 2020. Pdf
Image	Distributed moving horizon estimation with pre-estimating observer A. Venturino, S. Bertrand, C. S. Maniu, T. Alamo, E. F. Camacho 24rd International Conference on System Theory, Control and Computing, 2020. [Best paper award] Pdf
Image	Next-Best-View Planning for surface reconstruction of large-scale 3D environments with a fleet of UAVs G. Hardouin, F. Morbidi, J. Moras, J. Marzat, E.M. Mouaddib IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020. Pdf
Image	Voronoi-based Geometric Distributed Fleet Control of a Multi-Robot System S. Bertrand, I. Sarras, A. Eudes, J. Marzat 16th International Conference on Control, Automation, Robotics and Vision (ICARCV), 2020. Pdf
Image	MAV tele-operation constrained on virtual surfaces for inspection of infrastructures F. Dietrich, J. Marzat, M. Sanfourche, S. Bertrand, A. Bernard-Brunel, A. Eudes 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 2020. Pdf
Image	AirMuseum: a heterogeneous multi-robot dataset for stereo-visual and inertial Simultaneous Localization And Mapping R. Dubois, A. Eudes, V. Frémont IEEE International Conference on Multisensor Fusion and Integration, 2020. Pdf Dataset
Image	Bounded-error target localization and tracking in presence of decoys using a fleet of UAVs J. Ibenthal, L. Meyer, M. Kieffer, H. Piet-Lahanier IFAC (virtual) World Congress, Berlin, Germany, 2020. Pdf
Image	Surface-Driven Next-Best-View Planning for Exploration of Large-Scale 3D Environments G. Hardouin, F. Morbidi, J. Moras, J. Marzat, E.M. Mouaddib IFAC (virtual) World Congress, Berlin, Germany, 2020. Pdf
Image	Robust Consensus and Connectivity-Maintenance under Edge-Agreement-Based Protocols for Directed Spanning Tree Graphs E. Restrepo, A. Loria, I. Sarras, J. Marzat IFAC (virtual) World Congress, Berlin, Germany, 2020. Pdf
Image	Sim-to-Real Transfer with Incremental Environment Complexity for Reinforcement Learning of Depth-based Robot Navigation T. Chaffre, J. Moras, A. Chan-Hon-Tong, J. Marzat ICINCO, (Lieusaint-Paris, France) online, 2020. Pdf
Image	Global exponential estimation of rigid body angular velocity directly from multiple vector measurements I. Sarras European Control Conference, Saint-Petersburg, Russia, 2020. Pdf
Image	Leader-follower Consensus of Unicycle-type Vehicles via Smooth Time-invariant Feedback E. Restrepo, I. Sarras, A. Loria, J. Marzat European Control Conference, Saint-Petersburg, Russia, 2020. Pdf
2020 - Journal papers
Image	Stability and Robustness of edge-agreement-based Consensus Protocols for undirected Proximity Graphs E. Restrepo, A. Lorıa, I. Sarras, J. Marzat International Journal of Control, 2020. Pdf
Image	Leader-follower Consensus of Unicycles with Communication Range Constraints via Smooth Time-invariant Feedback E. Restrepo, A. Lorıa, I. Sarras, J. Marzat IEEE LCSS, vol. 5(2), pp 737-742, 2020. Pdf
2019 - Conference papers
Image	Distributed 3D TSDF Manifold Mapping for Multi-Robot Systems T. Duhautbout, J. Moras, J. Marzat 9th European Conference on Mobile Robots (ECMR), Prague, Czech Republic, 2019. Pdf
Image	On Data Sharing Strategy for Decentralized Collaborative Visual-Inertial Simultaneous Localization And Mapping R. Dubois, A. Eudes, V. Frémont IEEE/RSJ IROS, Macau, China, 2019. Pdf
Image	Fast Stereo Disparity Maps Refinement By Fusion of Data-Based And Model-Based Estimations M. Ferrera, A. Boulch, J. Moras 3DV, Québec, Canada, 2019. Pdf
Image	Cooperative guidance of a fleet of UAVs for multi-target discovery and tracking in presence of obstacles using a set membership approach L. Reboul, M. Kieffer, H. Piet-Lahanier, S. Reynaud IFAC Symposium on Automatic Control in Aerospace, Cranfield, UK, 2019. Pdf
Image	3D UAV Navigation with Moving-Obstacle Avoidance Using Barrier Lyapunov Functions E. Restrepo, I. Sarras, A. Loría, J. Marzat IFAC Symposium on Automatic Control in Aerospace, Cranfield, UK, 2019. Pdf
Image	Distributed event-triggered consensus of multi-agent systems with measurement noise and guaranteed interval bounds G. Hardouin, S. Bertrand, H. Piet-Lahanier 8th IFAC Workshop on Distributed Estimation and Control in Networked Systems, Chicago, IL, USA, 2019. Pdf
Image	Autonomous Unmanned Heterogeneous Vehicles for Persistent Monitoring H.Y. Shin, A. Tsourdos, V. Lappas, A. Ampatzoglou, V. Kostopoulos, S. Bertrand, J. Marzat, H. Piet-Lahanier, D. Lindgren, M. Detratti AIAA SciTech Forum, San Diego, California, USA, 2019. Pdf
Image	Design and flight experiments of a Tube-Based Model Predictive Controller for the AR.Drone 2.0 quadrotor N. Michel, S. Bertrand, S. Olaru, G. Valmorbida, D. Dumur 1st IFAC Workshop on Robot Control, Daejeon, South Korea, 2019. Pdf
Image	Exploiting Physical Contacts for Robustness Improvement of a Dot-Painting Mission by a Micro Air Vehicle T. Chaffre, K. Tudal, S. Bertrand, L. Prevost ICINCO, Prague, Czech Republic, 2019. Pdf
Image	Magneto-Visual-Inertial Dead-Reckoning: Improving Estimation Consistency by Invariance D. Caruso, A. Eudes, M. Sanfourche, D. Vissière, G. Le Besnerais IEEE 58th Conference on Decision and Control (CDC), Nice, France, 2019. Pdf
Image	Modernizing Teaching through Experimentation on UAVs Formations C. Stoica Maniu, T. Vlad, T. Chevet, G. Rousseau, S. Bertrand, S. Olaru 12th IFAC Symposium on Advances in Control Education, Philadelphia, USA, 2019. Pdf
Image	Integrating Experimental Data Sets and Simulation Codes for Students into a MOOC on Aerial Robotics S. Bertrand, J. Marzat, G. Le Besnerais, A. Manzanera, C. Stoica Maniu, M. Makarov 12th IFAC Symposium on Advances in Control Education, Philadelphia, USA, 2019. Pdf
Image	Évaluation de deux algorithmes de partage de données en Cartographie et Localisation Simultanées visuelles-inertielles multi-robot et décentralisées R. Dubois, A. Eudes, V. Frémont ORASIS, Saint-Dié-des-Vosges, France, 2019. Pdf
Image	ROS-based tools for managing fleets of autonomous robots A. Bernard-Brunel, A. Eudes, J. Marzat ROSConFR, Paris, France, 2019.
2019 - Journal papers
Image	AQUALOC: An underwater dataset for visual–inertial–pressure localization M. Ferrera, J. Moras, P. Trouvé-Peloux, V. Creuze The International Journal of Robotics Research, 2019. Pdf
Image	Real-Time Monocular Visual Odometry for Turbid and Dynamic Underwater Environments M. Ferrera, J. Moras, P. Trouvé-Peloux, V. Creuze Sensors, 2019. Pdf
Image	Distributed event-triggered control strategies for multi-agent formation stabilization and tracking C. Viel, S. Bertrand, M. Kieffer, H. Piet-Lahanier Automatica, 2019. Pdf
2019 - PhD Thesis
Image	Monocular Visual-Inertial-Pressure Fusion for Underwater Localization and 3D Mapping M. Ferrera Pdf
2018 - Conference papers
Image	DroMOOC: a Massive Open Online Course on Drones and Aerial Multi Robot Systems S. Bertrand, J. Marzat, C. Stoica Maniu, M. Makarov, D. Filliat, A. Manzanera UKACC 12th International Conference on Control, Sheffield, UK, 2018 Pdf
Image	Performance Evaluation of a Moving Horizon Estimator for Multi-Rate Sensor Fusion with Time-Delayed Measurements R. Dubois, S. Bertrand, A. Eudes 22nd International Conference on System Theory, Control and Computing, Sinaia, Romania, 2018 Pdf
Image	Collision-free MAV tele-operation along a reference trajectory in indoor cluttered environment J. Marzat, A. Eudes, A. Bernard-Brunel, M. Sanfourche, S. Bertrand IROS Workshop Vision-based Drones: What's Next?, Madrid, Spain, 2018. Pdf
Image	Cooperative fault detection and isolation in a surveillance sensor network: a case study J. Marzat, H. Piet-Lahanier, S. Bertrand IFAC Safeprocess, Warsaw, Poland 2018. Pdf
2018 - Journal papers
Image	Collaborative multi-MAV localization and target tracking in GPS-denied environment from range-velocity measurements I. Sarras, J. Marzat, S. Bertrand, H. Piet-Lahanier International Journal of Micro-Air Vehicles, Vol. 10(2), pp. 225-239, 2018. Pdf
Image	Autonomous and Safe Inspection of an Industrial Warehouse by a Multi-rotor MAV A. Eudes, J. Marzat, M. Sanfourche, J. Moras, S. Bertrand Springer Proceedings in Advanced Robotics, Field and Service Robotics, Vol. 5, pp. 221-235, 2018. Pdf
2018 - PhD Theses
Image	State estimation and trajectory planning using box particle kernels N. Merlinge Pdf
Image	Amélioration des méthodes de navigation vision-inertiel par exploitation des perturbations magnétiques stationnaires de l’environnement D. Caruso Pdf
2017 - Conference papers
Image	Detection, Estimation and Avoidance of Mobile Objects using Stereo-Vision and Model Predictive Control H. Roggeman, J. Marzat, M. Derome, M. Sanfourche, A. Eudes, G. Le Besnerais ICCV International Workshop on Computer Vision for UAVs, Venice, Italy, 2017. Pdf
Image	Reactive MPC for Autonomous MAV Navigation in Indoor Cluttered Environments: Flight Experiments J. Marzat, S. Bertrand, A. Eudes, M. Sanfourche, J. Moras 20th IFAC World Congress, Toulouse, France, 2017. Pdf
Image	Autonomous Exploration with Prediction of the Quality of Vision-based Localization H. Roggeman, J. Marzat, A. Bernard-Brunel, G. Le Besnerais 20th IFAC World Congress, Toulouse, France, 2017. Pdf
Image	Distributed Event-triggered Control for Multi-Agent Formation Stabilization C. Viel, S. Bertrand, M. Kieffer, H. Piet-Lahanier 20th IFAC World Congress, Toulouse, France, 2017. Pdf
Image	Model Predictive Control for Autonomous Navigation using Embedded GPU D. K. Phung, B. Hérissé, J. Marzat, S. Bertrand 20th IFAC World Congress, Toulouse, France, 2017. Pdf
Image	Design and Parameter Tuning of a Robust Model Predictive Controller for UAVs N. Michel, S. Bertrand, G. Valmorbida, S. Olaru, D. Dumur 20th IFAC World Congress - Open Invited Track for Young Researchers (sel. on extended abstract), Toulouse, France, 2017. Pdf
Image	Collaborative Multi-Vehicle Localization with respect to Static/Dynamic Target from Range and Velocity Measurements I. Sarras, J. Marzat, S. Bertrand, H. Piet-Lahanier International Conference on Unmanned Aircraft Systems, Miami, USA, 2017. Pdf
2017 - Journal paper
Image	New State Estimators and Communication Protocol for Distributed Event-Triggered Consensus of Linear Multi-Agent Systems with Bounded Perturbations C. Viel, S. Bertrand, M. Kieffer, H. Piet-Lahanier IET Control Theory & Applications, 2017. Pdf
2017 - PhD Theses
Image	Amélioration de Performance de la Navigation Basée Vision pour la Robotique Autonome : une Approche par Couplage Vision/Commande H. Roggeman Pdf
Image	Control Laws and State Estimators Design for Multi-Agent Systems with Reduction of Communications by Event-Triggered Approach C. Viel Pdf

2016 - Conference papers

Optimal Guidance and Observer Design for Target Tracking using Bearing-only Measurements

N. Merlinge, J. Marzat, L. Reboul
16th ONERA-DLR Aerospace Symposium, Oberpfaffenhofen, Germany, 2016.

Pdf

Prediction of the Scene Quality for Stereo Vision-based Autonomous Navigation

H. Roggeman, J. Marzat, A. Bernard-Brunel, G. Le Besnerais
9th IFAC Symposium on Intelligent Autonomous Vehicles, Leipzig, Germany, 2016.

Pdf

Collaborative Localization and Formation Flying using Distributed Stereo-Vision

N. Piasco, J. Marzat, M. Sanfourche
2016 IEEE International Conference on Robotics and Automation, Stockholm, Sweden, 2016.

Pdf

New State Estimator for Decentralized Event-Triggered Consensus for Multi-Agent Systems

C. Viel, S. Bertrand, H. Piet-Lahanier, M. Kieffer
4th IFAC Conference on Intelligent Control and Automation Sciences, Reims, France, 2016.

Pdf

2016 - Journal paper

A Prediction-Correction Approach for Real-Time Optical Flow Computation Using Stereo

M. Derome, A. Plyer, M. Sanfourche, G. Le Besnerais
Springer LCNS, 38th German Conference on Pattern Recognition, Hanover, Germany, 2016.

Pdf

2015 - Conference papers

Vision-based localization, mapping and control for autonomous MAV: EuRoC challenge results

J. Marzat, J. Moras, A. Plyer, A. Eudes, P. Morin
15th ONERA-DLR Aerospace Symposium, Toulouse, France, 2015.

Pdf

2015_-_jurse_-_environment_mapping_and_interpretation_by_drone

Environment Mapping & Interpretation by Drone

M. Sanfourche, B. Le Saux, A. Plyer, G. Le Besnerais
2015 IEEE Joint Urban Remote Sensing Event, Lausanne, Switzerland, 2015.

Pdf

Global Extremum Seeking by Kriging with a Multi-Agent System

A. Kahn, J. Marzat, H. Piet-Lahanier, M. Kieffer
17th IFAC Symposium on System Identification, Beijing, China, 2015.

Pdf

Cooperative Estimation and Fleet Reconfiguration for Multi-Agent Systems

A. Kahn, J. Marzat, H. Piet Lahanier, M. Kieffer
3rd IFAC Workshop on Multivehicle Systems, Genova, Italy, 2015.

Pdf

2015 - Journal papers

Moving Object Detection in Real-Time Using Stereo from a Mobile Platform

M. Derome, A. Plyer, M. Sanfourche, G. Le Besnerais
Unmanned Systems, October 2015, Vol. 03, No. 04 : pp. 253-266

Pdf

2015 - PhD Thesis

Reconfigurable Cooperative Control for Extremum Seeking

A. Kahn

Pdf

2014 - Conference papers

Cooperative Guidance of Lego Mindstorms NXT Mobile Robots

J. Marzat, H. Piet-Lahanier, A. Kahn
11th International Conference on Informatics in Control, Automation and Robotics, Vienna, Austria, 2014.

Pdf

Embedded Vision-based Localization and Model Predictive Control for Autonomous Exploration

H. Roggeman, J. Marzat, M. Sanfourche, A. Plyer
IROS Workshop on Visual Control of Mobile Robots, 2014, Chicago, Illinois, USA, 2014.

Pdf

Global Robot Ego-localization Combining Image Retrieval and HMM-based Filtering

C. Le Barz, N. Thome, M. Cord, S. Herbin, M. Sanfourche
IROS Workshop on Planning, Perception and Navigation for Intelligent Vehicles, Chicago, Illinois, USA, 2014.

Pdf

Real-Time Mobile Object Detection Using Stereo

M. Derome, A. Plyer, M. Sanfourche, G. Le Besnerais
13th International Conference on Control, Automation, Robotics & Vision, Marina Bay Sands, Singapore, 2014.

Pdf

2014 - Journal papers

3DSCAN : Online Ego-Localization and Environment Mapping for Micro Aerial Vehicles

M. Sanfourche, A. Plyer, A. Bernard-Brunel, G. Le Besnerais
AerospaceLab Journal, vol. 8, pp. 1-17, 2014.

Pdf

MPC Strategies for Cooperative Guidance of Autonomous Vehicles

S. Bertrand, J. Marzat, H. Piet-Lahanier, A. Kahn, Y. Rochefort
AerospaceLab Journal, vol. 8, pp. 1-18, 2014.

Pdf

Model Predictive Control of Cooperative Vehicles using Systematic Search Approach

Y.Rochefort, H.Piet-Lahanier, S.Bertrand, D.Beauvois, D.Dumur
Control Engineering Practice,vol. 31, pp. 204-217, 2014.

Pdf

2013 - Conference papers

eVO: a Realtime Embedded Stereo Odometry for MAV Applications

M. Sanfourche, V. Vittori, G. Le Besnerais
IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, 2013.

Pdf

Formation Flying Control via Elliptical Virtual Structure

A. Kahn, J. Marzat, H. Piet-Lahanier
IEEE International Conference on Networking, Sensing and Control, Evry, France, 2013.

Pdf

Cooperative Guidance of UAVs for Area Exploration with Final Target Allocation

T. Gorecki, H. Piet-Lahanier, J. Marzat, M. Balesdent
19th IFAC Symposium on Automatic Control in Aerospace, Würzburg, Germany, 2013.

Pdf

2013 - PhD Thesis

Méthodes pour le Guidage Coopératif

Y. Rochefort

Pdf

2012 - Conference papers

2012_-_sysid_-_design_of_nonlinear_mpc_by_kriging-based_optimization

Design of Nonlinear MPC by Kriging-based Optimizations

J. Marzat, H. Piet-Lahanier
16th IFAC Symposium on System Identification, Brussels, Belgium, 2012.

Pdf

Cooperative Nonlinear Model Predictive Control for Flocks of Vehicles

Y. Rochefort, S. Bertrand, H. Piet-Lahanier, D. Beauvois, D. Dumur
IFAC Symposium on Embedded Guidance, Navigation and Control in Aerospace, Bangalore, India, 2012.

Pdf

2011 - Conference paper

Guidance of Flocks of Vehicles Using Virtual Signposts

Y. Rochefort, H. Piet-Lahanier, S. Bertrand, D. Beauvois, D. Dumur
18th IFAC World Congress, Milano, Italy, 2011.

Pdf

2011 - Journal paper

A Hierarchical Controller for Miniature VTOL UAVs : Design and Stability Analysis using Singular Perturbation Theory

S. Bertrand, N. Guénard, T. Hamel, H. Piet-Lahanier, L. Eck
Control Engineering Practice, vol.19, pp.1099–1108, 2011.

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Continuous Online Semantic Implicit Representationfor Autonomous Ground Robot Navigation inUnstructured Environments

Distributed Bipartite Containment Tracking overSigned Networks with Multiple Leaders

Robust Formation Control of Robot Manipulatorswith Inter-agent Constraints over UndirectedSigned Networks

Leader-follower and leaderless bipartiteformation-consensus over undirected coopetitionnetworks and under proximity and collisionavoidanceconstraints

Set-membership target search and trackingwith cooperating UAVs using vision systems

A Case Study of Semantic Mapping and Planning for Autonomous Robot Navigation

Model-Free versus Model-Based Reinforcement Learning for Fixed-Wing UAV Attitude Control Under Varying Wind Conditions

Formation Control ofCooperative-Competitive RobotManipulators with Inter-agent Constraints

Smooth Path Planning Using a Gaussian Process Regression Mapfor Mobile Robot Navigation

DroPong: Enthusing Learners about Control Engineering by Revisitingthe Pong Game with Aerial and Ground Drones

Commande prédictive distribuée sous contraintes departitionnement pour une flotte de robots mobiles

Feedback on Drone Arenas-based Remoteinternational Teaching – DAReTeach

Safe Deep Reinforcement Learning Control with Self-Learned NeuralLyapunov Functions and State Constraints

SETCMAS: An easy-to-use software stack to facilitate Simulations andExperiments in Teaching Control of Multi-Agent Systems

2023 - Journal papers

Localization of Partially Hidden Moving Targets Using a Fleet of UAVs via Bounded-Error Estimation

Distributed Control for Multi-Robot Interactive Swarming Using Voronoi Partioning

A Multi-Robot System for 3D Surface Reconstruction with Centralized and Distributed Architectures

Multi-vehicle localization by distributed MHE over a sensor network with sporadic measurements: Further developments and experimental results

2023 - Conference papers

Set-membership vs. stochastic approaches for target localization with UAVs

Cooperative Localization of an UAV Fleet using Distributed MHE with EKF Pre-estimation and Nonlinear Measurements

Distributed Event-Triggered Leader-Follower Consensus of Nonlinear Multi-Agent Systems

Handling Uncertainties in Ground Risk Buffer Computation for Risk Assessment and Preparation of UAV Operations

A Short Curriculum on Robotics with Hands-On Experiments in Classroom Using Low-Cost Drones

Bipartite Formation over Undirected Signed Networks with Collision Avoidance

Curved Surface Inspection by a Climbing Robot: Path Planning Approach for Aircraft Applications

SMaNa: Semantic Mapping and Navigation Architecture for Robotic Exploration

Deep Learning of a Communication Policy for an Event-Triggered Observer for Linear Systems

Exponential Bipartite Containment Tracking over Multi-leader Coopetition Networks

2022 - PhD Theses

A centralized and distributed multi-robot system for 3D surface reconstruction of unknown environments

Pistage multi-cibles par méthodes ensemblistes non-linéaires

Estimation d'état distribuée sous contraintes pour une mission de surveillance multi-capteurs multi-robots

2022 - Journal papers / Chapters

Robust Consensus of High-Order Systems under Output Constraints: Application to Rendezvous of Underactuated UAVs

Autonomous Unmanned Heterogeneous Vehicles for Persistent Monitoring

Sharing visual-inertial data for collaborative decentralized simultaneous localization and mapping

Learning-based vs Model-free Adaptive Control of a MAV under Wind Gust

Distributed Event-Triggered Formation Control of Multi-Agent Systems in Presence of Packet Losses

2022 - Conference papers

Towards generic object property estimation using Unsupervised Reinforcement Learning

Consensus of Open Multi-agent Systems over Dynamic Undirected Graphs with Preserved Connectivity and Collision Avoidance

A Comparison of Two Decoupled Methods for Simultaneous Multiple Robots Path Planning

Safe Distributed Control for Human-Multi-Robot Swarming using Voronoi Partioning

Online Localisation and Colored Mesh Reconstruction Architecture for 3D Visual Feedback in Robotic Exploration Missions

Path Planning Incorporating Semantic Information for Autonomous Robot Navigation

Railway Lidar Semantic Segmentation With Axially Symmetrical Convolutional Learning

Robust Rendezvous Control of UAVs with Collision Avoidance and Connectivity Maintenance

Multi-Vehicle System Localization by Distributed Moving Horizon Estimation over a Sensor Network with Sporadic Measurements

Risk-Aware Guidance of a Fixed-Wing UAV using Neural Network Model Predictive Control

2021 - Journal papers

Bounded-error target localization and tracking using a fleet of UAVs

Edge-based Strict Lyapunov Functions for Consensus with Connectivity Preservation over Directed Graphs

Wireless Sensor Network for Tactical Situation Assessment

OV²SLAM: A Fully Online and Versatile Visual SLAM for Real-Time Applications

Distributed Moving Horizon State Estimation for Sensor Networks with Low Computation Capabilities

2021 - Conference papers

Localization of partially hidden targets using a fleet of UAVs via robust bounded-error estimation

Nonlinear Estimation of Sensor Faults With Unknown Dynamics for a Fixed Wing Unmanned Aerial Vehicle

Teaching by Practice the Basis of Consensus for Multi-Agent Systems

Distributed full-consensus control of multi-robot systems with range and field-of-view constraints

A New l-step Neighborhood Distributed Moving Horizon Estimator

2021 - PhD Theses

Coordination control of autonomous robotic multi-agent systems under constraints

Partage d’informations visuelles et inertielles pour la cartographie et la localisation simultanées multi-robot décentralisées

2020 - Conference papers

Dense Decentralized Multi-robot SLAM based on locally consistent TSDF submaps

Target search and tracking using a fleet of UAVs in presence of decoys and obstacles

Distributed moving horizon estimation with pre-estimating observer

Next-Best-View Planning for surface reconstruction of large-scale 3D environments with a fleet of UAVs

Voronoi-based Geometric Distributed Fleet Control of a Multi-Robot System

MAV tele-operation constrained on virtual surfaces for inspection of infrastructures

AirMuseum: a heterogeneous multi-robot dataset for stereo-visual and inertial Simultaneous Localization And Mapping

Bounded-error target localization and tracking in presence of decoys using a fleet of UAVs

Surface-Driven Next-Best-View Planning for Exploration of Large-Scale 3D Environments

Robust Consensus and Connectivity-Maintenance under Edge-Agreement-Based Protocols for Directed Spanning Tree Graphs

Sim-to-Real Transfer with Incremental Environment Complexity for Reinforcement Learning of Depth-based Robot Navigation

Global exponential estimation of rigid body angular velocity directly from multiple vector measurements

Continuous Online Semantic Implicit Representation
for Autonomous Ground Robot Navigation in
Unstructured Environments

Distributed Bipartite Containment Tracking over
Signed Networks with Multiple Leaders

Robust Formation Control of Robot Manipulators
with Inter-agent Constraints over Undirected
Signed Networks

Leader-follower and leaderless bipartite
formation-consensus over undirected coopetition
networks and under proximity and collisionavoidance
constraints

Set-membership target search and tracking
with cooperating UAVs using vision systems

Formation Control of
Cooperative-Competitive Robot
Manipulators with Inter-agent Constraints

Smooth Path Planning Using a Gaussian Process Regression Map
for Mobile Robot Navigation

DroPong: Enthusing Learners about Control Engineering by Revisiting
the Pong Game with Aerial and Ground Drones

Commande prédictive distribuée sous contraintes de
partitionnement pour une flotte de robots mobiles

Feedback on Drone Arenas-based Remote
international Teaching – DAReTeach

Safe Deep Reinforcement Learning Control with Self-Learned Neural
Lyapunov Functions and State Constraints

SETCMAS: An easy-to-use software stack to facilitate Simulations and
Experiments in Teaching Control of Multi-Agent Systems

New State Estimators and Communication Protocol for Distributed Event-Triggered
Consensus of Linear Multi-Agent Systems with Bounded Perturbations