Overall Objectives
Scientific Foundations
Application Domains
New Results
Contracts and Grants with Industry


Major publications by the team in recent years

V. Acary, B. Brogliato.
Numerical Methods for Nonsmooth Dynamical Systems: Applications in Mechanics and Electronics, Lecture Notes in Applied and Computational Mechanics, Springer Verlag, 2008, vol. 35.
J. Bonnans, J. Gilbert, C. Lemaréchal, C. Sagastizábal.
Numerical Optimization, Springer Verlag, 2003.
B. Brogliato.
Some perspectives on the analysis and control of complementarity systems, in: IEEE Trans. Automatic Control, 2003, vol. 48, no 6, p. 918-935.
B. Brogliato.
Nonsmooth Mechanics, Springer Verlag, 1999, 2nd edition.
B. Brogliato, R. Lozano, B. Maschke, O. Egeland.
Dissipative Systems Analysis and Control, Springer Verlag, London, 2007, 2nd edition.
B. Brogliato, S. Niculescu, P. Orhant.
On the control of finite-dimensional mechanical systems with unilateral constraints, in: IEEE Trans. Automatic Control, 1997, vol. 42, no 2, p. 200-215.
J.-B. Hiriart-Urruty, C. Lemaréchal.
Convex Analysis and Minimization Algorithms, Springer Verlag, Heidelberg, 1993, Two volumes.
C. Lemaréchal.
Lagrangian relaxation, in: Computational Combinatorial Optimization, M. Jünger, D. Naddef (editors), Springer Verlag, 2001, p. 115-160.
C. Lemaréchal, F. Oustry.
Semi-definite relaxations and Lagrangian duality with application to combinatorial optimization, Inria, 1999, no 3710, Rapport de Recherche.
C. Lemaréchal, F. Oustry, C. Sagastizábal.
The Im6 $\#119984 $ -Lagrangian of a convex function, in: Trans. AMS, 2000, vol. 352, no 2, p. 711-729.

Publications of the year

Doctoral Dissertations and Habilitation Theses

F. Cadoux.
Optimisation et analyse convexe pour la dynamique non régulière, Univ. Joseph Fourier, Grenoble, 2009, Ph. D. Thesis.

Articles in International Peer-Reviewed Journal

V. Acary, B. Brogliato.
Implicit Euler numerical scheme and chattering-free implementation of sliding mode systems, in: Systems and Control Letters, 2009, submitted, provisionally accepted.
F. Bertails.
Linear Time Super-Helices, in: Computer Graphics Forum, 2009, vol. 28, no 2.
F. Bertails, F. Cadoux, V. Acary.
FIBERS: simulating the Fine Interaction Between Entangled RodS, in: Transactions on Graphics, 2009, submitted, conditionally accepted.
B. Brogliato.
Some results on optimal control with unilateral state constraints, in: Nonlinear Analysis, Theory, Methods and Applications, 2009, vol. 70, p. 3626-3657.
B. Brogliato, W. Heemels.
Observer design for Lur'e systems with multivalued mappings: a passivity approach, in: IEEE Transactions on Automatic Control, August 2009, vol. 54, no 8, p. 1996-2001.
M. Fuentes, Jérôme. Malick, C. Lemaréchal.
Practical inexact proximal algorithms for smooth optimization, in: Computational Optimization and Applications, 2009, submitted.
W. Heemels, M. Camlibel, J. Schumacher, B. Brogliato.
Observer-based control of linear complementarity systems, in: Int. Journal of Robust and Nonlinear Control, 2009, submitted.
D. Henrion, J. Malick.
Projection methods for conic feasibility problems: applications to polynomial sum-of-squares decompositions, in: Optimization Methods and Software, December 2009.
K. Kiwiel, C. Lemaréchal.
An inexact conic bundle variant suited to column generation, in: Mathematical Programming, 2009, vol. 119, no 1, p. 177-206.
C. Lemaréchal, A. Ouorou, G. Petrou.
A bundle-type algorithm for routing in telecommunication data networks, in: Computational Optimization and Applications, 2009, vol. 44, no 3, p. 385-409.
C. Liu, Z. Zhao, B. Brogliato.
Frictionless multiple impacts in multibody systems: Part II. Numerical algorithm and simulation results, in: Proceedings of the Royal Society A, Mathematical, Physical and Engineering Sciences, 2009, vol. 465, no 2101, p. 1-23.
J. Malick, J. Povh, F. Rendl, A. Wiegele.
Regularization Methods for Semidefinite Programming, in: SIAM Journal on Optimization, 2009, vol. 20, no 1, p. 336-356
C. Morarescu, B. Brogliato.
Passivity-based switching control of flexible-joint complementarity mechanical systems, in: Automatica, 2009, in press.
C. Morarescu, B. Brogliato.
Trajectory tracking control of multiconstraint complementarity Lagrangian systems, in: IEEE Transactions on Automatic Control, 2009, in press, scheduled for June 2010.
A. Tonnelier.
Transmission of precise spike timings in neural networks, in: SIAM J. Appl. Dyn. Syst, 2009, submitted.
Z. Zhao, C. Liu, B. Brogliato.
Planar dynamics of a rigid body system with frictional impacts. II. Qualitative analysis and numerical simulations, in: Proceedings of the Royal Society A, Mathematical, Physical and Engineering Sciences, 2009, vol. 465, no 2107, p. 2267-2292.
G. Zheng, A. Tonnelier, D. Martinez.
Voltage-stepping schemes for the simulation of spiking neural networks, in: Journal of Computational Neuroscience, 2009, vol. 26, no 3.
G. Zheng, A. Tonnelier.
Chaotic solutions in the quadratic integrate-and-fire neuron with adaptation, in: Cognitive Neurodynamics, 2009, vol. 3, no 3.

Other Publications

A. Daniilidis, A. Lewis, Jérôme. Malick, H. Sendov.
Locally symmetric manifolds lift up to spectral manifolds,, 2009, submitted.

References in notes

V. Acary, O. Bonnefon, B. Brogliato.
Time-stepping numerical simulation of switched circuits with the nonsmooth dynamical systems approach, in: IEEE Transactions on Computer Aided Design of Intergrated Circuits and Systems, 2009.
V. Acary, B. Brogliato, D. Goeleven.
Higher order Moreau's sweeping process: Mathematical formulation and numerical simulation, in: Mathematical Programming, 2008, vol. 113, no 1, p. 133-217.
D. Baraff, A. Witkin.
Large Steps in Cloth Simulation, in: Computer Graphics Proceedings, Annual Conference Series, 1998, p. 43-54.
F. Cadoux.
An optimization-based algorithm for Coulomb frictional contact, in: Esaim Procs., 2008, to appear.
A. Curnier, P. Alart.
A generalized Newton method for contact problems with friction, in: J. de Méc. Théor. et Appl., 1988, vol. suppl. 1 to 7, p. 67-82.
G. Ghaith Kaabi, G. Zheng, A. Tonnelier, D. Martinez.
Simulation de réseaux de neurones intègre-et-tire non linéaires par discrétisation du potentiel, in: Deuxième conférence française de Neurosciences Computationnelles Neurocomp08, Marseille : France, 2008.
A. Lewis, R. Luke, Jérôme. Malick.
Local convergence of nonconvex averaged and alternating projections, in: Foundations of Computational Mathematics, 2008, to appear.
C. Liu, Z. Zhao, B. Brogliato.
Frictionless multiple impacts in multibody systems. I: Theoretical framework, in: Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences, 2008, vol. 464 (2100), p. 3193-3211.
P. Maréchal, A. Rondepierre.
A proximal approach to the inversion of ill-conditioned matrices, in: Comptes-rendus de l'académie des Sciences, 2009, to appear.
R. Rockafellar, R.-B. Wets.
Variational Analysis, Springer Verlag, Heidelberg, 1998.
J. Spillmann, M. Teschner.
CORDE: Cosserat Rod Elements for the Dynamic Simulation of One-Dimensional Elastic Objects, in: ACM SIGGRAPH / Eurographics Symposium on Computer Animation, San Diego, August 3-4 2007.
A. Tonnelier, H. Belmabrouk, D. Martinez.
Event-driven simulations of nonlinear integrate-and-fire neurons, in: Neural Computation, 2007, vol. 19, p. 1-13.
J. Tropp, I. Dhillon, R. Heath, T. Strohmer.
Designing structured tight frames via in alternating projection method, in: IEEE Transactions on Information Theory, 2005, vol. 51, p. 188-209.
Z. Zhao, C. Liu, B. Brogliato.
Energy dissipation and dispersion effects in granular media, in: Physical Review E - Statistical, Nonlinear, and Soft Matter Physics, 2008, vol. 78, no 3.