| 2023 - Journal papers |
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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.
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| 2022 - PhD Theses |
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A centralized and distributed multi-robot system for 3D surface reconstruction of unknown environments
G. Hardouin
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Pistage multi-cibles par méthodes ensemblistes non-linéaires
J. Ibenthal
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Estimation d'état distribuée sous contraintes pour une mission de surveillance multi-capteurs multi-robots
A. Venturino
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| 2022 - Journal papers / Chapters |
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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.
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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.
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Sharing visual-inertial data for collaborative decentralized simultaneous localization and mapping
R. Dubois, A. Eudes, V. Frémont
Robotics and Autonomous Systems, vol. 148, 2022.
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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.
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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.
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| 2022 - Conference papers |
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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.
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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.
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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.
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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.
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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.
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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.
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Robust Rendezvous Control of UAVs with Collision Avoidance and Connectivity Maintenance
E. Restrepo, A. Loria, I. Sarras, J. Marzat
American Control Conference, 2022.
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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.
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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.
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| 2021 - Journal papers |
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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.
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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.
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Wireless Sensor Network for Tactical Situation Assessment
B. Pannetier, J. Dezert, J. Moras, R. Levy
IEEE Sensors Journal, 2021.
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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.
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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.
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| 2021 - Conference papers |
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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.
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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.
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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.
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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.
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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.
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| 2021 - PhD Theses |
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Coordination control of autonomous robotic multi-agent systems under constraints
E. Restrepo
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Partage d’informations visuelles et inertielles pour la cartographie et la localisation simultanées multi-robot décentralisées
R. Dubois
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| 2020 - Conference papers |
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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.
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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.
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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]
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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Global exponential estimation of rigid body angular velocity directly from multiple vector measurements
I. Sarras
European Control Conference, Saint-Petersburg, Russia, 2020.
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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.
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| 2020 - Journal papers |
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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.
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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.
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| 2019 - Conference papers |
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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.
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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.
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Fast Stereo Disparity Maps Refinement By Fusion of Data-Based And Model-Based Estimations
M. Ferrera, A. Boulch, J. Moras
3DV, Québec, Canada, 2019.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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ROS-based tools for managing fleets of autonomous robots
A. Bernard-Brunel, A. Eudes, J. Marzat
ROSConFR, Paris, France, 2019.
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| 2019 - Journal papers |
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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.
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Real-Time Monocular Visual Odometry for Turbid and Dynamic Underwater Environments
M. Ferrera, J. Moras, P. Trouvé-Peloux, V. Creuze
Sensors, 2019.
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Distributed event-triggered control strategies for multi-agent formation stabilization and tracking
C. Viel, S. Bertrand, M. Kieffer, H. Piet-Lahanier
Automatica, 2019.
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| 2019 - PhD Thesis |
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Monocular Visual-Inertial-Pressure Fusion for Underwater Localization and 3D Mapping
M. Ferrera
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| 2018 - Conference papers |
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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
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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
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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.
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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.
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| 2018 - Journal papers |
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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.
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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.
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| 2018 - PhD Theses |
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State estimation and trajectory planning using box particle kernels
N. Merlinge
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Amélioration des méthodes de navigation vision-inertiel par exploitation des perturbations magnétiques stationnaires de l’environnement
D. Caruso
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| 2017 - Conference papers |
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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| 2017 - Journal paper |
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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.
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| 2017 - PhD Theses |
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Amélioration de Performance de la Navigation Basée Vision pour la Robotique Autonome : une Approche par Couplage Vision/Commande
H. Roggeman
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Control Laws and State Estimators Design for Multi-Agent Systems with Reduction of Communications by Event-Triggered Approach
C. Viel
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