110documents trouvés
Robotic insights for the modeling of visually guided hand movements in primates
P.SOUERES, C.JOUFFRAIS, S.CELEBRINI, Y.TROTTER
GEPETTO, IRIT-UPS, CERCO
Ouvrage (contribution) : Biology and Control Theory : Current Challenges, Vol.Part I, Lecture Notes in Control and Information Sciences 357, Springer, N°ISBN 978-3-540-71987-8, 2007, pp.53-75 , N° 06005
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110461Position control and attitude stabilization of a ducted fan VTOL UAV in crosswind
J.M.PFLIMLIN, P.SOUERES, T.HAMEL, R.MAHONY
I3S, ANU, GEPETTO
Revue Scientifique : International Journal of Control, Vol.80, N°5, pp.666-683, Mai 2007 , N° 06017
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113443Nonlinear attitude and gyroscope's bias estimation for a VTOL UAV
J.M.PFLIMLIN, T.HAMEL, P.SOUERES, N.METNI
I3S, LCPC, GEPETTO
Revue Scientifique : International Journal of Systems Science, Vol.38, N°3, 6p., Mars 2007 , N° 04720
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113444Minimum-length trajectories for a car: an example of the use of Boltianskii's sufficient conditions for optimality
P.SOUERES
GEPETTO
Revue Scientifique : IEEE Transactions on Automatic Control , Vol.52, N°2, pp.323-327, Février 2007 , N° 04660
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Abstract
We consider the kinematic model of a car which describes the rolling-without-slipping constraint of the wheels on an horizontal floor and the bound on the angle of steering of front wheels. The problem of determining shortest paths for such a vehicle is known as the Reeds and Shepp's problem. Ten years ago, a complete solution to this problem was determined on the basis of a complex reasoning grounded on the necessary conditions of Pontryagin's Maximum Principle and completed with a set of geometric arguments. In this note, we provide a simple new proof of the optimality of this construction by using a verification theorem based on Boltianskii's sufficient regularity conditions. To our knowledge, it is the first example of a regular synthesis for a nonholonomic system in a three-dimensional space
Mots-Clés / Keywords
Minimum lenght trajectories; Nonholomic car-like robot; Regular synthesis;
A reactive path-following controller to guarantee obstacle avoidance during the transient phase
V.CADENAT, P.SOUERES, T.HAMEL
I3S, RAP, GEPETTO
Revue Scientifique : International Journal of Robotics and Automation, Vol.21, N°4, pp.256-265, 2006 , N° 05497
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108895Attitude and gyro bias estimation for a flying UAV
N.METNI, J.M.PFLIMLIN, T.HAMEL, P.SOUERES
LCPC, I3S, GEPETTO
Revue Scientifique : Control Engineering Practice, Vol.14, N°12, pp.1511-1520, Décembre 2006 , N° 05097
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Abstract
In this paper, a nonlinear complementary filter (x-estimator) is presented to estimate the attitude of a vertical take off and landing unmanned aerial vehicle (VTOL UAV). The measurements are taken from a low-cost IMU (inertial measurement unit) which consists of 3-axis accelerometers and 3-axis gyroscopes. The gyro bias are estimated online. A second nonlinear complementary filter (z-estimator) which combines 3-axis gyroscope readings with 3-axis magnetometer measurements, is also designed. Based on the proposed estimators, the full orientation matrix R will be retrieved. Note that R evolves on the special orthogonal group SO(3), since it is a transformation matrix between two orthogonal frames. This representation of orientation by the rotation matrix allows to overcome the problem of singularities that appear in local parametrization such as Euler angles. Therefore, both estimators may be used to describe any type of 3D motion. The convergence of the two observers is theoretically and experimentally proven; simulations and experiments are conducted on a real platform in hovering flight conditions.
Mots-Clés / Keywords
Inertial measurement unit; Sensor fusion; Mobile robot navigation; Aerial robots;
Waypoint navigation control of a VTOL UAV admidst obstacles
J.M.PFLIMLIN, P.SOUERES, T.HAMEL
GEPETTO, I3S
Manifestation avec acte : 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2006), Beijing (Chine), 9-12 Octobre 2006, pp.3544-3549 , N° 06593
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107965Modal analysis based beamforming for nearfield or farfield speaker localization in robotics
S.ARGENTIERI, P.DANES, P.SOUERES
GEPETTO, RAP
Manifestation avec acte : 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2006), Beijing (Chine), 9-12 Octobre 2006, 6p. , N° 06646
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108260Nonholonomic distance to polygonal obstacles for a car-like robot of polygonal shape
P.ROBUFFO-GIORDANO, M.VENDITTELLI, J.P.LAUMOND, P.SOUERES
Rome, GEPETTO
Revue Scientifique : IEEE Transactions on Robotics, Vol.22, N°5, pp.1040-1047, Octobre 2006 , N° 06592
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108882Position control and attitude stabilization of a ducted fan VTOL UAV in crosswind
J.M.PFLIMLIN, P.SOUERES, T.HAMEL, R.MAHONY
I3S, ANU, GEPETTO
Manifestation avec acte : 8th International IFAC Symposium on Robot Control (SYROCO'2006), Bologne (Italie), 6-8 Septembre 2006, 6p. , N° 06017
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