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Publications de l’équipe SYROCO

  • Zhanat Kappassov, Juan Antonio Corrales Ramón, Véronique Perdereau. Tactile-Based Task Definition Through Edge Contact Formation Setpoints for Object Exploration and Manipulation. IEEE Robotics and Automation Letters, IEEE 2022, 7 (2), pp.5007-5014. ⟨10.1109/LRA.2022.3154478⟩. ⟨hal-03615124⟩
  • Ghani Kissoum, Veronique Perdereau. Simultaneous Tactile Localization And Reconstruction of an Object During Robotic Manipulation. 2021 20th International Conference on Advanced Robotics (ICAR), Dec 2021, Ljubljana, Slovenia. pp.948-954, ⟨10.1109/ICAR53236.2021.9659354⟩. ⟨hal-03545766⟩
  • Ali Hammoud, Alioune Diouf, Veronique Perdereau. A robotic in-hand manipulation dictionary based on human data. 2021 20th International Conference on Advanced Robotics (ICAR), Dec 2021, Ljubljana, Slovenia. pp.961-967, ⟨10.1109/ICAR53236.2021.9659421⟩. ⟨hal-03545898⟩
  • Alessandro Carfì, Timothy Patten, Yingyi Kuang, Ali Hammoud, Mohamad Alameh, et al.. Hand-Object Interaction: From Human Demonstrations to Robot Manipulation. Frontiers in Robotics and AI, Frontiers Media S.A., 2021, 8, ⟨10.3389/frobt.2021.714023⟩. ⟨hal-03388446⟩
  • Thomas Pierrot, Nicolas Perrin-Gilbert, Olivier Sigaud. First-Order and Second-Order Variants of the Gradient Descent in a Unified Framework. 30th International Conference on Artificial Neural Networks - ICANN 2021, Sep 2021, Bratislava, Slovakia. pp.197-208, ⟨10.1007/978-3-030-86340-1_16⟩. ⟨hal-03404369⟩
  • Alexandre Chenu, Nicolas Perrin-Gilbert, Stéphane Doncieux, Olivier Sigaud. Selection-Expansion: A Unifying Framework for Motion-Planning and Diversity Search Algorithms. 30th International Conference on Artificial Neural Networks - ICANN 2021, Sep 2021, Bratislava, Slovakia. pp.568-579, ⟨10.1007/978-3-030-86380-7_46⟩. ⟨hal-03404366⟩
  • Alexandre Chenu, Nicolas Perrin-Gilbert, Stephane Doncieux, Olivier Sigaud. Selection-Expansion: A Unifying Framework for Motion-Planning and Diversity Search Algorithms. 2021. ⟨hal-03196479⟩
  • Shuai Liang, Mokrane Boudaoud, Pascal Morin, Jonathan Cailliez, Barthélemy Cagneau, et al.. Model Predictive Control With Obstacle Avoidance for Inertia Actuated AFM Probes Inside a Scanning Electron Microscope. IEEE Robotics and Automation Letters, IEEE 2021, 6 (2), pp.382 - 388. ⟨10.1109/LRA.2020.2974388⟩. ⟨hal-03115963⟩
  • Guillaume Matheron, Nicolas Perrin, Olivier Sigaud. Understanding Failures of Deterministic Actor-Critic with Continuous Action Spaces and Sparse Rewards. Artificial Neural Networks and Machine Learning – ICANN 2020, Sep 2020, Bratislava, Slovakia. pp.308-320, ⟨10.1007/978-3-030-61616-8_25⟩. ⟨hal-03080925⟩
  • Guillaume Matheron, Nicolas Perrin, Olivier Sigaud. PBCS: Efficient Exploration and Exploitation Using a Synergy Between Reinforcement Learning and Motion Planning. Artificial Neural Networks and Machine Learning – ICANN 2020, Sep 2020, Bratislava, Slovakia. pp.295-307, ⟨10.1007/978-3-030-61616-8_24⟩. ⟨hal-03080918⟩
  • Astrid Merckling, Alexandre Coninx, Loic Cressot, Stephane Doncieux, Nicolas Perrin. State Representation Learning from Demonstration. 6th International Conference on Machine Learning, Optimization, and Data Science, LOD 2020, Jul 2020, Siena, Italy. ⟨hal-03083156⟩
  • Mohamed Fnadi, Wenqian Du, Frédéric Plumet, Faïz Benamar. Constrained Model Predictive Control for Dynamic Path Tracking of a Bi-steerable Rover on Slippery Grounds. Control Engineering Practice, Elsevier, 2020, 107, pp.104693. ⟨10.1016/j.conengprac.2020.104693⟩. ⟨hal-03151883⟩
  • Zhanat Kappassov, Juan Antonio Corrales Ramon, Véronique Perdereau. Simulation of Tactile Sensing Arrays for Physical Interaction Tasks. 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Jul 2020, Boston, France. pp.196-201, ⟨10.1109/AIM43001.2020.9158822⟩. ⟨hal-02925450⟩
  • 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, Elsevier, 2020. ⟨hal-03052483⟩
  • Geraldo Silveira, Luiz Mirisola, Pascal Morin. Decoupled Intensity-based Nonmetric Visual Servo Control. IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2020, 28 (2), pp.566-573. ⟨10.1109/TCST.2018.2873541⟩. ⟨hal-02901281⟩
  • Zhanat Kappassov, Juan Antonio Corrales Ramon, Véronique Perdereau. Touch driven controller and tactile features for physical interactions. Robotics and Autonomous Systems, Elsevier, 2020, 123, pp.103332. ⟨10.1016/j.robot.2019.103332⟩. ⟨hal-02335723⟩
  • Wenqian Du, Mohamed Fnadi, Faïz Ben Amar. Rolling based locomotion on rough terrain for a wheeled quadruped using centroidal dynamics. Mechanism and Machine Theory, Elsevier, 2020, 153, pp.103984. ⟨10.1016/j.mechmachtheory.2020.103984⟩. ⟨hal-03177960⟩
  • Mohamed Fnadi, Wenqian Du, Frédéric Plumet, Faiz Ben Amar. Local obstacle-skirting path planning for a fast bi-steerable rover using béziers curves. 2020 International Conference on Robotics and Automation (ICRA), 2020, Paris, France. pp.1-9. ⟨hal-03135862⟩
  • Wenqian Du, Faïz Ben Amar. A compact form dynamics controller for a high-dof tetrapod-on-wheel robot with one manipulator via null space based convex optimization and compatible impedance controllers. Multibody System Dynamics, Springer Verlag, 2020, 49 (4), pp.447-463. ⟨10.1007/s11044-020-09728-y⟩. ⟨hal-03177955⟩
  • 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, Elsevier, 2020, 115, pp.108858. ⟨10.1016/j.automatica.2020.108858⟩. ⟨hal-02924536⟩
  • Arthur Bouton, Christophe Grand, Faïz Ben Amar. Design and Control of a Compliant Wheel-on-Leg Rover that Conforms to Uneven Terrain. IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, 2020, 25 (5), pp.2354 - 2363. ⟨10.1109/TMECH.2020.2973752⟩. ⟨hal-03019412⟩
  • Wenqian Du, Mohamed Fnadi, Faïz Ben Amar. Whole-body motion tracking for a quadruped-on-wheel robot via a compact-form controller with improved prioritized optimization. IEEE Robotics and Automation Letters, IEEE 2020, 5 (2), pp.516-523. ⟨10.1109/LRA.2019.2963822⟩. ⟨hal-03177954⟩
  • Aloïs Pourchot, Nicolas Perrin, Olivier Sigaud. Importance mixing: Improving sample reuse in evolutionary policy search methods. 2019. ⟨hal-02397754⟩
  • Thomas Pierrot, Nicolas Perrin, Olivier Sigaud. First-order and second-order variants of the gradient descent in a unified framework. 2019. ⟨hal-02397757⟩
  • Mohamed Fnadi, Frédéric Plumet, Faiz Ben Amar. Nonlinear tire cornering stiffness observer for a double steering off-road mobile robot. 2019 International Conference on Robotics and Automation (ICRA), 2019, Montreal, Canada. pp.7529-7534. ⟨hal-03135863⟩
  • Mohamed Fnadi, Frédéric Plumet, Faiz Ben Amar. Model predictive control based dynamic path tracking of a four-wheel steering mobile robot. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), 2019, Macao, Unknown Region. pp.1-9. ⟨hal-03135865⟩
  • Mohamed Fnadi, Frédéric Plumet, Faiz Ben Amar. Road bank and road grade angles estimation for a double steering off- road mobile robot. IFToMM World Congress on Mechanism and Machine Science, 2019, Krakow, Poland. pp.1771-1780. ⟨hal-03135864⟩
  • Zexiang Liu, Necmiye Ozay, Nicolas Perrin. Warm-Starting Fixed-Point Based Control Synthesis. [Research Report] University of Michigan-Ann Arbor; Cnrs; Sorbonne Université. 2018. ⟨hal-02397867⟩
  • Frédéric Plumet, Yves Briere, Fabrice Le Bars. Les voiliers robotisés. Conception, modélisation et commande en robotique, s7815, Techniques de l'ingénieur, pp.1-23, 2018. ⟨hal-01833557⟩
  • Pascal Morin, Claude Samson. Feedback control of a motorized skateboard. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2018, 64 (2), pp.628-639. ⟨10.1109/TAC.2018.2830509⟩. ⟨hal-02308537⟩
  • Luc Jaulin, Andrea Caiti, Marc Carreras, Vincent Creuze, Frédéric Plumet, et al.. Marine Robotics and Applications. Springer International Publishing. France. 10, Springer International Publishing, pp.178, 2018, Ocean Engineering & Oceanography, 978-3-319-70724-2. ⟨10.1007/978-3-319-70724-2⟩. ⟨lirmm-01699602⟩
  • Mohamed Fnadi, Bachir Menkouz, Frédéric Plumet, Faiz Ben Amar. Path tracking control for a double steering off-road mobile robot. ROMANSY 22−Robot Design, Dynamics and Control, 2018, Rennes, France. pp.441-449. ⟨hal-03135866⟩
  • Philipp Schlehuber-Caissier, Nicolas Perrin. Computing regions of stabilizability for nonlinear control systems with input constraints. American Control Conference (ACC'18), 2018, Milwaukee, United States. pp.2869-2876, ⟨10.23919/ACC.2018.8430798⟩. ⟨hal-03135362⟩
  • Stéphane Doncieux, David Filliat, Natalia Díaz-Rodríguez, Timothy Hospedales, Richard Duro, et al.. Open-Ended Learning: A Conceptual Framework Based on Representational Redescription. Frontiers in Neurorobotics, Frontiers, 2018, 12, pp.59. ⟨10.3389/fnbot.2018.00059⟩. ⟨hal-01889947⟩
  • A.P. Santos, Faïz Ben Amar, Philippe Bidaud, Vincent Padois, E. Desailly. Articulated foot improves human likeliness of walking when compared to a flat foot. Computer Methods in Biomechanics and Biomedical Engineering, Taylor & Francis, 2017, 20, pp.189-190. ⟨10.1080/10255842.2017.1382926⟩. ⟨hal-01850521⟩
  • Nicolas Perrin. Biped Footstep Planning. Humanoid Robotics: A Reference, Springer Netherlands, pp.1-21, 2017, ⟨10.1007/978-94-007-7194-9_29-1⟩. ⟨hal-03089498⟩
  • Zhanat Kappassov, Juan Antonio Corrales Ramon, Véronique Perdereau. ZMP Features for Touch Driven Robot Control via Tactile Servo. 2016 International Symposium on Experimental Robotics, ISER 2016, International Foundation of Robotics Research, Oct 2016, Tokio, Japan. pp.234-243, ⟨10.1007/978-3-319-50115-4_21⟩. ⟨hal-01684799⟩
  • Clint Hansen, Paula Arambel, Khalil Ben Mansour, Véronique Perdereau, Frédéric Marin. Human–Human Handover Tasks and How Distance and Object Mass Matter. Perceptual and Motor Skills, Ammons Scientific, 2017, 124 (1), pp.182-199. ⟨10.1177/0031512516682668⟩. ⟨hal-03615315⟩
  • Alex Vasquez, Arnaud Dapogny, Kevin Bailly, Véronique Perdereau. Sequential recognition of in-hand object shape using a collection of neural forests. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017, Vancouver, Canada. ⟨hal-03181845⟩
  • Alex Vásquez, Véronique Perdereau. Proprioceptive shape signatures for object manipulation and recognition purposes in a robotic hand. Robotics and Autonomous Systems, Elsevier, 2017, ⟨10.1016/j.robot.2017.06.001⟩. ⟨hal-01545938⟩
  • Patricia Bouyer, Nicolas Markey, Nicolas Perrin, Philipp Schlehuber-Caissier. Timed-automata abstraction of switched dynamical systems using control invariants. Real-Time Systems, Springer Verlag, 2017, pp.1-27. ⟨10.1007/s11241-016-9262-3⟩. ⟨hal-01436413⟩
  • Arthur Bouton, Christophe Grand, Faïz Ben Amar. Obstacle negotiation learning for a compliant wheel-on-leg robot. IEEE International Conference on Robotics and Automation (ICRA 2017), May 2017, Singapour, Singapore. ⟨10.1109/ICRA.2017.7989281⟩. ⟨hal-03177942⟩
  • Alex Vasquez, Zhanat Kappassov, Veronique Perdereau. In-hand object shape identification using invariant proprioceptive signatures. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2016, Daejeon, South Korea. pp.965-970, ⟨10.1109/IROS.2016.7759166⟩. ⟨hal-03615319⟩
  • Nicolas Perrin, Christian Ott, Johannes Englsberger, Olivier Stasse, Florent Lamiraux, et al.. Continuous Legged Locomotion Planning. IEEE Transactions on Robotics, IEEE, 2016, 33 (1), pp. 234-239. ⟨10.1109/TRO.2016.2623329⟩. ⟨hal-01433866⟩
  • Adrien Debord, Eric Lucet, Faïz Ben Amar. Mobile robot behavior adaptation in navigation space shared with human. MCG 2016 –5th International Conference on Machine Control & Guidance, 2016, Clermont-Ferrand, France. ⟨hal-03177944⟩
  • Christophe Grand, Pierre Jarrault, Faïz Ben Amar, Philippe Bidaud. Experimental evaluation of obstacle clearance by a hybrid wheel- legged robot. 14th International Symposium on Experimental Robotics, 2014, Marrakech, Morocco. ⟨hal-03177935⟩
  • Nicolas Perrin, Philipp Schlehuber-Caissier. Fast diffeomorphic matching to learn globally asymptotically stable nonlinear dynamical systems. Systems and Control Letters, Elsevier, 2016, 96, pp.51 - 59. ⟨10.1016/j.sysconle.2016.06.018⟩. ⟨hal-01394886⟩
  • Arthur Bouton, Christophe Grand, Faïz Ben Amar. Motion control of a compliant wheel-leg robot for rough terrains crossing. IEEE International Conference on Robotics and Automation (ICRA2016), May 2016, Stockholm, Sweden. p. 2846-2851, ⟨10.1109/ICRA.2016.7487448⟩. ⟨hal-03177943⟩
  • Ziad Zamzami, Faïz Ben Amar. Dynamic coupling map: acceleration space analysis for underactuated robots. International Conference on Informatics in Control, Automation and Robotics (ICINCO)-, 2016, Lisbon, Portugal. 10-p. ⟨hal-03177945⟩
  • Yi Li, Jean-Philippe Saut, Julien Pettré, Anis Sahbani, Franck Multon. Fast Grasp Planning Using Cord Geometry. IEEE Transactions on Robotics, IEEE, 2015, 31 (6), pp.11. ⟨10.1109/TRO.2015.2492863⟩. ⟨hal-01250418⟩