KERMORGANT , Olivier

Visual Servoing has been widely investigated inthe last decades as it provides a powerful strategy for robotcontrol. Thanks to the direct feed-back from a set of sensors,it allows to reduce the impact of some modeling errors and toperform tasks even in uncertain environments. The commonlyexploited approach in this...

This paper proposes new prediction models for Visual Predictive Control that can lead to both better motions in the feature space and shorter sensor trajectories in 3D. Contrarily to existing first-order models based only on the interaction matrix, it is proposed to integrate acceleration information provided by second-order models. This allows...

Solving Direct Shooting Model Predictive Control (MPC) optimization problems online can be computationally expensive if a large horizon is used while also maintaining a dense time sampling. In these cases, it is accepted that tradeoffs between computational load and performances should be sought in order to meet real-time feasibility...

This paper proposes a longitudinal control framework for platooning in an urban environment. The targetted application is to redistribute vehicles involved in car-sharing systems, where only the leader vehicle is human-driven. We propose a platoon model and control law considering actuator dynamics. This control relies on a hybrid Information...

In this paper, a distributed observer-based approach is proposed to control the longitudinal motion of car-like vehicle platoon moving in an urban environment. To the best of our knowledge, this is the first work presenting an observer-based platoon controller that combines the advantages of high traffic capacity and a minimum number of...

Model Predictive Control (MPC) while being a very effective control technique can become computationally demanding when a large prediction horizon is selected. To make the problem more tractable, one technique that has been proposed in the literature makes use of control input parameterizations to decrease the numerical complexity of nonlinear...

In this paper, we study longitudinal motion controlof car-like vehicles platoon navigating in an urban environmentwith minimum communication links. To achieve a higher trafficflow, a constant-spacing policy between successive vehicles iscommonly used but this is at a cost of an increased number ofcommunication links as any vehicle...

This paper proposes a distributed longitudinal controller for car-like vehicles platooning that travel in an urban environment. The presented control strategy combines the platoon maintaining, gap closure, and collision avoidance functionality into a unified control law. A consensus-based controller designed in the path coordinates is the basis...

We present an experimental study for the generation of large 3D maps using our CoMapping framework. This framework considers a collaborative approach to efficiently manage, share, and merge maps between vehicles. The main objective of this work is to perform a cooperative mapping for urban and rural environments denied of continuous-GPS...

This paper explores the feasibility of a Multi-Sensor-Based Control (MSBC) approach for addressing forward nonparallel (perpendicular and diagonal) unparking problems of car-like vehicles as an alternative to classical approaches (e.g. path planning based, etc.). The results of individual cases are presented to illustrate the behavior and...

CoMapping is a framework to efficient manage, share, and merge 3D map data between mobile robots. The main objective of this framework is to implement a Collaborative Mapping for outdoor environments. The framework structure is based on two stages. During the first one, the Pre-Local Mapping stage, each robot constructs a real time pre-local...

This paper explores the feasibility of a Multi-Sensor-Based Predictive Control (MSBPC) approach for addressing backward nonparallel (perpendicular and diagonal) parking problems of car-like vehicles as an alternative to more classical (e.g. path planning based) approaches. The results of a few individual cases are presented to illustrate the...

This paper addresses the perpendicular and parallel parking problems of car-like vehicles for both forward and reverse maneuvers in one trial by extending the work presented in [1] using a multi sensor based controller with a weighted control scheme. The perception problem is discussed briefly considering a Velodyne VLP-16 and a SICK LMS151 as...

This paper formalizes, under a single common Multi-Sensor-Based Predictive Control framework, five different types of parking maneuvers: perpendicular, diagonal for both forward and backward motions and parallel for backward motions. Since, from a practical point of view, forward parallel parking is usually not advisable, it is not addressed in...

This paper is concerned with pose estimation and visual servoing from four points. We determine the configurations for which the corresponding Jacobian matrix becomes singular, leading to inaccurate and unstable results. Using an adequate representation and algebraic geometry, it is shown that, for any orientation between the camera and the...