Bibliography

Major publications by the team in recent years

[1]

S. Benhimane, E. Malis.
Homography-based 2D Visual Tracking and Servoing, in: International Journal of Robotic Research, July 2007, vol. 26, p. 661-676.

[2]

A. Comport, E. Malis, P. Rives.
Accurate Quadrifocal Tracking for Robust 3D Visual Odometry, in: IEEE International Conference on Robotics and Automation, Rome, Italy, April 2007.

[3]

B. Espiau, F. Chaumette, P. Rives.
A New Approach to Visual Servoing in Robotics, in: IEEE Transaction on Robotics and Automation, June 1992, vol. 8, n^o 3, p. 313-326.

[4]

M. Fruchard, P. Morin, C. Samson.
A Framework for the Control of Nonholonomic Mobile Manipulators, in: The International Journal of Robotics Research, 2006, vol. 25, p. 745–780.

[5]

E. Malis.
Improving vision-based control using efficient second-order minimization techniques, in: IEEE International Conference on Robotics and Automation, New Orleans, USA, May 2004.

[6]

E. Malis.
Visual servoing invariant to changes in camera intrinsic parameters, in: IEEE Transaction on Robotics and Automation, February 2004, vol. 20, n^o 1, p. 72–81.

[7]

C. Mei, P. Rives.
Calibration between a Central Catadioptric Camera and a Laser Range Finder for Robotics Applications, in: IEEE International Conference on Robotics and Automation, Orlando, USA, May 2006.

[8]

P. Morin, J.-B. Pomet, C. Samson.
Design of homogeneous time-varying stabilizing control laws for driftless controllable systems via oscillatory approximation of Lie brackets in closed-loop, in: SIAM Journal of Control and Optimization, 1999, vol. 38, n^o 1, p. 22-49.

[9]

P. Morin, C. Samson.
A characterization of the Lie algebra rank condition by transverse periodic functions, in: SIAM Journal of Control and Optimization, 2001, vol. 40, n^o 4, p. 1227-1249.

[10]

P. Morin, C. Samson.
Practical stabilization of driftless systems on Lie groups: the transverse function approach, in: IEEE Trans. on Automatic Control, 2003, vol. 48, n^o 9, p. 1496-1508.

[11]

P. Morin, C. Samson.
Practical and asymptotic stabilization of chained systems by the transverse function approach, in: Siam J. on Control and Optimization, 2004, vol. 43, n^o 1, p. 32–57.

[12]

P. Morin, C. Samson.
Control with transverse functions and a single generator of underactuated mechanical systems, in: IEEE Conf. on Decision and Control, 2006, p. 6110-6115.

[13]

P. Rives, M. Devy.
Perception pour la localisation, in: La robotique mobile, J.-P. Laumond (editor), Hermes, 2001.

[14]

P. Rives, M. Devy.
Perception pour la navigation et la commande, in: La robotique mobile, J.-P. Laumond (editor), Hermes, 2001.

[15]

C. Samson, M. Leborgne, B. Espiau.
Robot control. The Task Function approach, Oxford Engineering Series, Oxford University Press, 1991, vol. 22.

[16]

C. Samson.
Velocity and torque feedback control of a nonholonomic cart, in: Advanced Robot Control. Proceedings of the International Workshop on Nonlinear and Adaptive Control: Issues in Robotics, Grenoble, France, Nov. 21-23, 1990, Lecture Notes in Control and Information Sciences, Springer-Verlag, 1991, vol. 162, p. 125-151, C. Canudas de Wit (Ed.).

[17]

C. Samson.
Control of chained systems. Application to path following and time-varying point stabilization of mobile robots, in: IEEE Transactions on Automatic Control, 1995, vol. 40, n^o 1, p. 64-77.

[18]

G. Silveira, E. Malis.
Real-time Visual Tracking under Arbitrary Illumination Changes, in: IEEE Computer Vision and Pattern Recognition, Minneapolis, USA, June 2007.

[19]

A. Victorino, P. Rives, J.-J. Borelly.
Safe Navigation for Indoor Mobile Robots, PartI: A Sensor-Based Navigation Framework, in: Int. Journal of Robotics Research, 2003, vol. 22, n^o 12, p. 1005-1019.

[20]

A. Victorino, P. Rives, J.-J. Borelly.
Safe Navigation for Indoor Mobile Robots, PartII: Exploration, Self-Localization and Map Building, in: Int. Journal of Robotics Research, 2003, vol. 22, n^o 12, p. 1019-1041.

Publications of the year

Doctoral Dissertations and Habilitation Theses

[21]

M.-D. Hua.
Contributions au contrôle automatique de véhicules aériens, Université de Nice-Sophia-Antipolis, December 2009, Ph. D. Thesis.

Articles in International Peer-Reviewed Journal

[22]

M.-D. Hua, T. Hamel, P. Morin, C. Samson.
A control approach for thrust-propelled underactuated vehicles and its application to VTOL drones, in: IEEE Trans. on Automatic Control, 2009, vol. 54, n^o 8, p. 1837-1853.

[23]

P. Morin, C. Samson.
Control of nonholonomic mobile robots based on the transverse function approach, in: IEEE Transactions on Robotics, 2009, vol. 25, n^o 5, p. 1058-1073.

International Peer-Reviewed Conference/Proceedings

[24]

M.-D. Hua, T. Hamel, P. Morin, C. Samson.
Control of a class of thrust-propelled underactuated vehicles and application to a VTOL drone, in: IEEE International Conference on Robotics and Automation, 2009, p. 972-978.

[25]

M.-D. Hua.
Attitude observers for accelerated rigid bodies based on GPS and INS measurements, in: IEEE Conf. on Decision and Control, 2009.

[26]

M. Ishikawa, P. Morin, C. Samson.
Tracking control of the trident snake robot with the transverse function approach, in: IEEE Conf. on Decision and Control, 2009.

[27]

C. Joly, P. Rives.
Builiding Consistent Local Submaps with omnidirectional SLAM, in: 9th Workshop on Omnidirectional Vision, (Omnivis), Kyoto, Japan, October 2009.

[28]

E. Malis, T. Hamel, R. Mahony, P. Morin.
Dynamic estimation of homography transformations on the special linear group for visual servo control, in: IEEE International Conference on Robotics and Automation, 2009, p. 1498-1503.

[29]

P. Morin, C. Samson.
Transverse functions on special orthogonal groups for vector fields satisfying the LARC at the order one, in: IEEE Conf. on Decision and Control, 2009.

[30]

A. Salazar-Garibay, E. Malis, C. Mei.
Visual Tracking of Planes with an Uncalibrated Central Catadioptric Camera, in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009.

[31]

A. Salazar-Garibay, E. Malis.
Direct Approach to the Self-Calibration of Omnidirectional Cameras, in: Workshop on Omnidirectional Vision, Camera Networks and Non-classical Camera (OMNIVIS), 2009.

[32]

G. Silveira, E. Malis.
Visual servoing from robust direct color image registration, in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009, p. 5450-5455.

National Peer-Reviewed Conference/Proceedings

[33]

M.-D. Hua, T. Hamel, P. Morin, C. Samson.
Commande par retour d'état pour des engins volants de type VTOL: résultats et perspectives, in: Journées Nationales de la Recherche en Robotique, 2009, p. 147–161.

[34]

G. Silveira, E. Malis, P. Rives.
Registro direto de imagens para SLAM visual, in: Simpósio Brasileiro de Automação Inteligente, 2009.

[35]

G. Silveira, E. Malis.
Controle servo-visual a partir do registro direto robusto de imagens coloridas, in: Simpósio Brasileiro de Automação Inteligente, 2009.

Other Publications

[36]

R. Desouche.
Fusion de données inertielles et de vision pour l'estimation de poses, Ecole Nationale Supérieure de Mécanique et Microtechniques (ENSMM), 2009, Masters thesis.

References in notes

[37]

J. R. Azinheira, P. Rives.
Image-based Visual Servoing for Vanishing Features and Ground Lines Tracking: Application to a UAV Automatic Landing, in: International Journal of Optomechatronics, 2008, vol. 2, n^o 3
http://www-sop.inria.fr/members/Patrick.Rives/Publications/IJOP-azinheira-rives-08.pdf, Special issue on visual servoing.

[38]

A. Bacciotti.
Local stabilizability of nonlinear control systems, World Scientific, 1991.

[39]

T. Bailey, H. Durrant-Whyte.
Simultaneous Localisation and Mapping (SLAM): Part II - State of the Art, in: Robotics and Automation Magazine, 2006.

[40]

A. Bartoli, A. Zisserman.
Direct estimation of non-rigid registrations, in: British machine vision conference, 2004, vol. 2, p. 899-908.

[41]

M. K. Bennani, P. Rouchon.
Robust stabilization of flat and chained systems, in: European Control Conference (ECC), 1995, p. 2642–2646.

[42]

R. Brockett.
Asymptotic stability and feedback stabilization, in: Differential Geometric Control Theory, R. Brockett, R. Millman, H. Sussmann (editors), Birkauser, 1983.

[43]

H. Choset, K. Nagatani.
Topological simultaneous localization and mapping (SLAM): toward exact localization without explicit localization, in: IEEE Trans. on Robotics and Automation, Avril 2001, vol. 17, n^o 2, p. 125-137.

[44]

J. Civera, A. J. Davion, J. M. Montiel.
Inverse Depth Parametrization for Monocular SLAM, in: IEEE Transactions On Robotics, October 2008, vol. 24, n^o 5.

[45]

R. L. Cook, K. E. Torrance.
A Reflectance Model for Computer Graphics, in: ACM Trans. Graph., January 1982, vol. 1, n^o 1, p. 7–24.

[46]

P. Couvignou, N. Papanikolopoulos, M. Sullivan, P. Khosla.
The use of active deformable models in model-based robotic visual servoing, in: Journal of Intelligent and Robotic Systems, October 1996, vol. 17, n^o 2, p. 195 - 221.

[47]

A. Davison.
Real-Time Simultaneous Localisation and Mapping with a Single Camera, in: 9th IEEE International Conference on Computer Vision, Nice, France, 2003, p. 1403–1410.

[48]

M. Deans, M. Hebert.
Experimental comparison of techniques for localization and mapping using a bearings only sensor, in: Seventh International Symposium on Experimental Robotics, 2000.

[49]

H. Durrant-Whyte, T. Bailey.
Simultaneous Localisation and Mapping (SLAM): Part I The Essential Algorithms, in: Robotics and Automation Magazine, 2006.

[50]

E. D. Eade, T. W. Drummond.
Edge Landmarks in Monocular SLAM, in: British Machine Vision Conference, 2006.

[51]

B. Espiau.
Effect of Camera Calibration Errors on Visual Servoing in Robotics, in: 3rd International Symposium on Experimental Robotics, Kyoto, Japan, October 1993.

[52]

S. Hirose.
Biologically Inspired Robots: Snake-like Locomotors and Manipulators, Oxford University Press, 1993.

[53]

S. Hirose, Y. Umetani.
Kinematic control of active cord mechanism with tactile sensors, in: 2nd Int. CISM-IFT Symp. on Theory and Practice of Robot Manipulators, 1976, p. 241–252.

[54]

M.-D. Hua.
Attitude estimation for accelerated vehicles using GPS/INS measurements, in: Control Engineering Practice, 2010, To appear.

[55]

S. Hutchinson, G. Hager, P. I. Corke.
A tutorial on Visual Servo Control, in: IEEE Transactions on Robotics and Automation, October 1996, vol. 12, n^o 5, p. 651-670.

[56]

M. Ishikawa.
Trident snake robot: locomotion analysis and control, in: 6th. IFAC Symposium on Nonlinear Control Systems, Stuttgart, 2004, p. 1169-1174.

[57]

M. Ishikawa.
Iterative feedback control of snake-like robot based on principal fibre bundle modelling, in: International Journal of Advanced Mechatronic Systems, 2009, n^o 3, p. 175–182.

[58]

B. Kuipers, Y. T. Byun.
A robot exploration and mapping strategy based on semantic hierarchy of spatial representations, in: Robotics and Autonomous Systems, 1991, vol. 8, n^o 1-2, p. 47-63.

[59]

N. M. Kwok, G. Dissanayake.
An Efficient Multiple Hypothesis Filter for Bearing-Only SLAM, in: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004.

[60]

G. Lafferriere, H. Sussmann.
A differential geometric approach to motion planning, in: Nonholonomic motion planning, Z. Li, J. Canny (editors), Kluwer Academic Press, 1993.

[61]

D. Lizárraga.
Obstructions to the existence of universal stabilizers for smooth control systems, in: Mathematics of Control, Signals, and Systems, 2004, vol. 16, p. 255–277.

[62]

F. Lu, E. Milios.
Globally consistent range scan alignment for environment mapping, in: Autonomous Robots, 1997, vol. 4, p. 333-349.

[63]

M. Maini, P. Morin, J.-B. Pomet, C. Samson.
On the robust stabilization of chained systems by continuous feedback, in: IEEE Conf. on Decision and Control (CDC), 1999, p. 3472–3477.

[64]

E. Malis, P. Rives.
Robustness of image-based visual servoing with respect to depth distribution errors, in: IEEE Int. Conf. on Robotics and Automation, Taipei, Taiwan, May 2003.

[65]

P. Martin, E. Salaun.
An invariant observer for earth-velocity-aided attitude heading reference systems, in: IFAC World Congress, 2008, p. 9857–9864.

[66]

M. Maya-Mendez, P. Morin, C. Samson.
Control of a nonholonomic mobile robot via sensor-based target tracking and pose estimation, in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Beijing, China, October 2006, p. 5612–5618.

[67]

Y. Mezouar, E. Malis.
Robustness of Central Catadioptric Image-Based Visual Servoing to Uncertainties on 3D Parameters, in: IEEE/RSJ International Conference on Intelligent Robots Systems, Sendai, Japan, September-October 2004.

[68]

P. Morin, C. Samson.
Exponential stabilization of nonlinear driftless systems with robustness to unmodeled dynamics, in: Control, Optimization & Calculus of Variations, 1999, vol. 4, p. 1–36.

[69]

J. Ostrowski, J. Burdick.
The Geometry Mechanics of Undulatory Robotic Locomotion, in: The International Journal of Robotics Research, 1998, n^o 7, p. 683–701.

[70]

B. Phong.
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[71]

N. Ramey, J. Corso, W. Lau, D. Burschka, G. Hager.
Real-time 3D Surface Tracking and Its Applications, in: Conference on Computer Vision and Pattern Recognition Workshops, 2004, vol. 03, p. 34-42.

[72]

A. Ranganathan, M. Kaess, F. Dellaert.
Loopy SAM, in: Intl. Joint Conf. on Artificial Intelligence, IJCAI, Hyderabad, India, Jan 2007.

[73]

P. Rives, J. R. Azinheira.
Linear Structures Following by an Airship using Vanishing Point and Horizon Line in a Visual Servoing Scheme, in: IEEE International Conference on Robotics and Automation, New Orleans, Lu, USA, May 2004.

[74]

G. Silveira, E. Malis, P. Rives.
An Efficient Direct Method for Improving visual SLAM, in: IEEE International Conference on Robotics and Automation, Rome, Italy, April 2007.

[75]

P. Smith, N. Nandhakumar, A. Radamorai.
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[76]

J. Solà, M. Devy, A. Monin, T. Lemaire.
Undelayed initialization in bearing only SLAM, in: IEEE International Conference on Intelligent Robots and Systems, 2005.

[77]

E. D. Sontag.
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[78]

S. Thrun, W. Burgard, D. Fox.
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[79]

D. Tsakiris, K. Kapellos, C. Samson, P. Rives, J.-J. Borelly.
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