HUA , Minh-Duc

Simple nonlinear PI and PID controllers combining time-(sub)optimality with linear control robustness and anti wind-up properties are presented. For illustration purposes, the proposed PID solution is applied to the longitudinal headway control of a vehicle following another vehicle.

This paper revisits the problem of estimating the pose (i.e. position and attitude) of a robotic vehicle by combining landmark position measurements provided by a stereo camera with measurements of an Inertial Measurement Unit. The distinguished features with respect to similar works on the topic are two folds: First, the vehicle's linear...

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...

In this paper we present a novel approach for homography observer design on the Special Linear group SL(3). This proposed approach aims at computing online, the optical flow estimation extracted from continuous homography obtained by capturing video sequences from aerial vehicles equipped with a monocular camera. The novelty of the paper lies...

An approach to the control of a VTOL vehicle equipped with complementary thrust-direction tilting capabilities that nominally yield full actuation of the vehicle's position and attitude is developed. The particularity and difficulty of the control problem are epitomized by the existence of a maximal thrust-tilting angle which forbids complete...

An approach to the control of a VTOL vehicle equipped with complementary thrust-tilting capabilities that nominally yield full actuation of the vehicle's position and attitude is developed. The particularity and difficulty of the control problem are epitomized by the existence of a maximum tilting angle which forbids complete and decoupled...

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...

International audience

The purpose of this tutorial is to report results developed over the last three years for state estimation problems arising with unmanned mobile robots equipped with a monocular camera and a 3-axis gyrometer, complemented with either a velocity sensor, or a 3-axis accelerometer, or an optical flow sensor. Definition and characterization of...

This paper develops a novel nonlinear control approach for slender-body underactuated underwater vehicles with a body shape symmetric with respect to the longitudinal axis. Compared to aerial vehicles, added-mass effects are much more preponderant and complex for underwater vehicles, especially for slender bodies. By considering an axisymmetric...

The paper addresses the challenging problem of image-based dynamic control of Autonomous Underwater Vehicles observing a (near) vertical planar target, without measuring the linear velocity. The proposed control approach exploits a minimum sensor suite consisting of a camera looking forward to provide images from which the homography matrix is...

A nonlinear image-based visual servo control approach for pipeline following of fully-actuated Autonomous Underwater Vehicles (AUV) is proposed. It makes use of the binormalized Plücker coordinates of the pipeline borders detected in the image plane as feedback information while the system dynamics are exploited in a cascade manner in the...

This paper proposes a comprehensive observability analysis of the relative pose estimation of a monocular camera (moving in three-dimensional space) from bearing measurements and epipolar constraints. It extends our previous work on observer design for the particular case of 3-source points with unknown 3D coordinates. The paper addresses the...

This article is an introduction to feedback control design for a family of robotic aerial vehicles with vertical take-off and landing (VTOL) capabilities such as quadrotors, ducted-fan tail-sitters, and helicopters. Potential applications for such devices, like surveillance, monitoring, or mapping, are varied and numerous. For these...

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...

A novel cascaded observer design exploiting source points' bearing measurements is proposed for the monocular visual SLAM problem. A distinguishing feature of the present work with respect to most existing visual SLAM algorithms is the decoupling of the camera's pose estimation (i.e., localization) from source points' position estimation (i.e.,...

This paper proposes a comprehensive observability analysis of the relative pose estimation of a monocular camera (moving in three-dimensional space) from bearing measurements and epipolar constraints. It extends our previous work on observer design for the particular case of 3-source points with unknown 3D coordinates. The paper addresses the...

This paper presents the design and evaluation of a nonlinear control scheme for multirotor helicopters that takes first-order drag effects into account explicitly. A dynamic model including the blade flapping and induced drag forces is presented. Based on this model, a hierarchical nonlinear controller is designed to actively compensates for...

International audience

An approach for tackling the classical problem of homography decomposition is presented. Its novelty lies in the design of two deterministic Riccati observers for addressing the homography decomposition problem instead of solving it on a frame-by-frame basis like traditional algebraic approaches. By exploiting the temporal correlation of image...

A robust and reliable attitude estimator is a key technology enabler for the development of autonomous aerial vehicles. This paper is an introduction to attitude estimation for aerial robotic systems. First, attitude definition and parameterizations are recalled and discussed. Then, several attitude estimation techniques – ranging from...