HAMEL , Tarek

This paper introduces a novel approach for estimating the relative pose of a mobile robot equipped with an onboard IMU, a velocity sensor complemented with a monocular camera observing a planar scene. The proposed solution relies on the design of a deterministic Riccati observer that exploits the first-order approximations of a class of...

This paper introduces a novel approach for estimating the relative pose of a mobile robot equipped with an onboard IMU, a velocity sensor complemented with a monocular camera observing a planar scene. The proposed solution relies on the design of a deterministic Riccati observer that exploits the first-order approximations of a class of...

The Transverse Function (TF) control approach is applied to the control of a generic motorboat endowed with a surge force along the stern-bow direction and a torque actuation to modify the boat's orientation. With respect to more conventional methods this approach allows for uniform practical stabilization of any reference position/orientation...

An image-based strategy for visual servo control of a class of dynamic systems is proposed. The class of systems considered includes dynamic models of unmanned aerial vehicles capable of quasi-stationary flight (hover and near hover flight). The control strategy exploits passivity-like properties of the dynamic model to derive a Lyapunov...

This paper revisits the problems of estimating the position of an object moving in n (≥ 2)-dimensional Euclidean space using velocity measurements and either direction or range measurements of one or multiple source points. The proposed solutions exploit the Continuous Riccati Equation (CRE) to calculate observer gains yielding global uniform...

This paper revisits the problem of estimating the pose (position and orientation) of a body in 3D space with respect to (w.r.t.) an inertial frame by using i) the knowledge of source points positions in the inertial frame, ii) the measurements of the body angular velocity expressed in the body's frame iii) the measurements of the body...

International audience

International audience

This paper revisits the problems of estimating the position of an object moving in n (≥ 2)-dimensional Euclidean space using velocity measurements and either direction or range measurements of one or multiple source points. The proposed solutions exploit the Continuous Riccati Equation (CRE) to calculate observer gains yielding global...

This paper addresses the problem of estimating the position of a body moving in n (≥ 2)-dimensional Euclidean space using body velocity measurements and the measurements of direction(s) between the body and one (or several) source point(s) whose location(s) is (are) known. The proposed solutions exploit the Continuous Riccati Equation (CRE) to...

This paper describes a visual tracking control law of an Unmanned Aerial Vehicle (UAV) for monitoring of structures and maintenance of bridges. It presents a control law based on computer vision for quasi-stationary flights above a planar target. The first part of the UAV's mission is the navigation from an initial position to a final position...

This paper revisits the problem of estimating the pose (position and orientation) of a body in 3D space with respect to (w.r.t.) an inertial frame by using i) the knowledge of source points positions in the inertial frame, ii) the measurements of the body velocity, either in the body frame or in the inertial frame, and iii) source points...

Recent advances in nonlinear observer design for homography estimation have exploited the Lie group structure of SL(3). Existing work requires the group (homography) velocity input, while the available measurements are typically only the camera velocity. Consequently, prior contributions exploiting the SL(3) geometry either reconstruct the...

Dans cet article, afin de simplifier le mode téléopéré d'un drone miniature à quatre voilures tournantes connu sous le nom du "X4-flyer", nous nous intéressons via la correction d'assiette à la stabilisation de sa vitesse . Le modèle dynamique de l'appareil est établi dans les conditions de vol proche du vol stationnaire. La loi de commande non...

This paper considers the problem of tracking reference trajectories for systems defined on matrix Lie Groups. Both the reference system (exosystem) and controlled system have states on the same matrix Lie group, with the exosystem having constant velocity. The measurements are associated with a group action on a homogeneous space of the state...

International audience

Dans cet article, afin de simplifier le mode téléopéré d'un drone miniature à quatre voilures tournantes connu sous le nom du "X4-flyer", nous nous intéressons via la correction d'assiette à la stabilisation de sa vitesse . Le modèle dynamique de l'appareil est établi dans les conditions de vol proche du vol stationnaire. La loi de commande non...

An image-based visual servo control is presented for an Unmanned aerial vehicle (UAV) capable of stationary or quasi-stationary flight with the camera mounted on board the vehicle. The target considered consists of a finite set of stationary and disjoint points lying in a plane. Control of the position and orientation dynamics are decoupled...

International audience

International audience

An image-based visual servo control is presented for a robotic manipulator. The proposed control design ad- dresses visual servo of 'eye-in-hand' type systems. Us- ing a novel representation of the visual error based on a spherical representation of target centroid information along with a measure of the rotation between the camera and the...

International audience

Control design for robotic systems guaranteeing safety and convergence properties in cluttered environments is intrinsically challenging due to their potentially conflicting ob jectives. While several research streams tackle the problem from different angles, a general solution for nonlinear dynamical systems is still out of reach. In this...

Motivated by drone autonomous navigation applications we address a novel problem of velocity-aided attitude estimation by combining two linear velocity components measured in a body-fixed frame and a linear velocity component measured in an inertial frame with the measurements of an Inertial Measurement Unit (IMU). The main contributions of the...

This paper describes a new control approach for scale-model airplanes. The proposed control solution is primarily geared towards drones whose lift surfaces can be approximated by a disc-shaped wing. Designed and analysed on the basis of a specific model of aerodynamic forces acting on the aircraft, it departs from other solutions in its...