66documents trouvés
Stratégies de filtrage particulaire pour le suivi visuel de personnes: description et évaluation
L.BRETHES, P.DANES, F.LERASLE
RIA
Manifestation avec acte : 15ème Congrès Francophone "Reconnaissance des Formes et Intelligence Artificielle" (RFIA'2006), Tours (Toulouse), 25-27 Janvier 2006, 10p. , N° 05359
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106359Towards an LMI approach to multicriteria visual servoing in robotics
P.DANES, D.BELLOT
RIA, LRP
Revue Scientifique : European Journal of Control, Vol.12, N°1, pp.86-110, Janvier 2006 , N° 05085
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Abstract
This paper attempts to propose a general framework to the multicriteria analysis and synthesis of visual servoing schemes in robotics. Two of the most prominent control strategies are unified under a common state-space representation, which is highly nonlinear and possibly uncertain. This model is then embedded into a Linear Differential Inclusion with linear fractional uncertainty, so that the problem can be tackled in a robust linear control context. Many visual servoing requirements can be dealt with, e.g. convergence, avoidance of actuators saturations, image and 3D contraints. Existing work on the analysis and control of rational systems through quadratic Lyapunov functions is a seminal basis to the approach. As the symmetry and convexity properties of the consequent ellipsoidal invariant sets is penalizing in this robotics context, some extensions are presented, which can be of independent interest. When possible, the criteria are dealt with through Linear Matrix Inequalities.
Visual trackers dedicated to a tour-guide robot: description and evaluation
L.BRETHES, F.LERASLE, P.DANES, A.CLODIC
RIA
Rapport LAAS N°06020, Janvier 2006, 8p.
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105699Beamforming based on modal analysis for nearfield or farfield speaker localization in robotics
S.ARGENTIERI, P.SOUERES, P.DANES
RIA
Rapport LAAS N°05585, Octobre 2005, 7p.
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104971A convex approach to array pattern synthesis using modal analysis for robotics application
S.ARGENTIERI, P.SOUERES, P.DANES
RIA
Rapport LAAS N°05587, Octobre 2005, 4p.
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104974Conception et implémentation d'un système de localisation de source sonore large bande par formation de voie pour des applications robotiques
S.ARGENTIERI, P.DANES, P.SOUERES
RIA
Manifestations avec acte à diffusion limitée : 20ème Colloque GRETSI sur le Traitement du Signal et des Images, Louvain-la-Neuve (Belgique), 6-9 Septembre 2005, pp.85-88 , N° 05113
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104056An experimental testbed for sound source localization with mobile robots using optimized wideband beamformers
S.ARGENTIERI, P.DANES, P.SOUERES, P.LACROIX
2I, RIA
Manifestation avec acte : IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2005), Edmonton (Canada), 2-6 Août 2005, pp.909-914 , N° 05032
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103984Prototyping filter-sum beamformers for sound-source localization in mobile robotics
S.ARGENTIERI, P.DANES, P.SOUERES
RIA
Manifestation avec acte : 2005 IEEE International Conference on Robotics & Automation (ICRA'05), Barcelone (Espagne), 18-22 Avril 2005, pp.3562-3567 , N° 04573
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103516Data fusion for visual tracking dedicated to human-robot interaction
L.BRETHES, F.LERASLE, P.DANES
RIA
Manifestation avec acte : 2005 IEEE International Conference on Robotics & Automation (ICRA'05), Barcelone (Espagne), 18-22 Avril 2005, pp.2087-2092 , N° 04540
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103514Multicriteria analysis of visual servos using differential algebraic representations of rational systems, biquadratic stability and LMIs
P.DANES, D.F.COUTINHO
RIA, Porto Alegre
Rapport LAAS N°05202, Avril 2005, 8p.
Diffusion restreinte
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