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SYROCO Team publications

  • 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⟩
  • 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, 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⟩
  • 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⟩
  • 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⟩
  • 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⟩
  • 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⟩
  • 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⟩
  • 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⟩
  • 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⟩
  • 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⟩
  • 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⟩
  • 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⟩
  • 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⟩
  • 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⟩
  • 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⟩
  • 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⟩
  • Nicolas Perrin, Darwin Lau, Vincent Padois. Effective Generation of Dynamically Balanced Locomotion with Multiple Non-coplanar Contacts. International Symposium on Robotics Research, Sep 2015, Sestri Levante, Italy. ⟨hal-01388632⟩
  • Frédéric Plumet, Clement Petres, Miguel- Angel Romero-Ramirez, Bruno Gas, Sio-Hoï Ieng. Towards an autonomous sailing boat. IEEE Journal of Oceanic Engineering, 2015, 40 (2), pp.397-407. ⟨10.1109/JOE.2014.2321714⟩. ⟨hal-03135891⟩
  • Alexandra Pimenta Santos, Faïz Ben Amar, Philippe Bidaud, Eric Desailly. Gait synthesis assessment fo the effect of crouch gait and hip internal rotation on \char8216stiff-knee\char8217 gait. Annual Meeting of the European Society for Movement Analysis in Adults and Children, 2015, Heidelberg, Germany. ⟨hal-03177934⟩
  • Jae-Yun Jun, Vincent Padois, Faïz Ben Amar. Stability-based planning and trajectory tracking of a mobile manipulator over uneven terrains. IEEE International Workshop on Advanced Robotics and its Social Impacts, 2015, Lyon, France. ⟨hal-01160230⟩
  • Jae-Yun Jun, Jean-Philippe Saut, Faïz Ben Amar. Pose estimation-based path planning for a tracked mobile robot traversing uneven terrains. Robotics and Autonomous Systems, Elsevier, 2015, 75 (Part B), pp.325-339. ⟨10.1016/j.robot.2015.09.014⟩. ⟨hal-01212090⟩
  • Bachir Menkouz, Ahmed Bouzar Essaidi, Moussa Haddad, Taha Chettibi, Faïz Ben Amar. Trajectory planning of unmanned ground vehicles evolving on an uneven terrain with vertical dynamic consideration. Conference: 2015 4th International Conference on Electrical Engineering (ICEE), 2015, Alger, Algeria. 6-p., ⟨10.1109/INTEE.2015.7416800⟩. ⟨hal-03178036⟩
  • Hadi Saoud, Minh Duc Hua, Frédéric Plumet, Faiz Ben Amar. Optimal sail angle computation for an autonomous sailboat robot. IEEE Conference on Decision and Control (CDC), 2015, Osaka, Japan. pp.807-813, ⟨10.1109/CDC.2015.7402329⟩. ⟨hal-03135868⟩
  • Jianting Ma, Haissam Kharboutly, Abderraouf Benali, Faïz Ben Amar, Mourad Bouzit. Joint angle estimation with accelerometers for dynamic postural analysis. Journal of Biomechanics, Elsevier, 2015, 48 (13), pp.3616-3624. ⟨10.1016/j.jbiomech.2015.08.008⟩. ⟨hal-03178040⟩
  • Hadi Saoud, Minh Duc Hua, Frédéric Plumet, Faiz Ben Amar. Routing and course control of an autonomous sailboat. European Conference on Mobile Robots (ECMR'15), 2015, Lincoln, United Kingdom. ⟨10.1109/ECMR.2015.7324218⟩. ⟨hal-03135867⟩
  • Mohamed Krid, Faïz Ben Amar, Ziad Zamzami. Design of an active device for controlling lateral stability of fast mobile robot. Robotica, Cambridge University Press, 2015, 34 (11), pp.2629-2651. ⟨10.1017/S0263574715000260⟩. ⟨hal-03177961⟩
  • Alexandra Pimenta Santos, Faïz Ben Amar, Philippe Bidaud, Eric Desailly. Gait synthesis for an anthropomorphic human model with articulated feet. Computer Methods in Biomechanics and Biomedical Engineering, Taylor & Francis, 2015, 18 (1), ⟨10.1080/10255842.2015.1069620⟩. ⟨hal-03178048⟩