Team arobas

Members
Overall Objectives
Scientific Foundations
Application Domains
Software
New Results
Contracts and Grants with Industry
Other Grants and Activities
Dissemination
Bibliography

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, no 5, p. 661-676.
[2]
A. I. Comport, E. Malis, P. Rives.
Real-time quadrifocal visual odometry, in: Int. Journal of Robotics Research, 2010, vol. 29, no 2–3, p. 245–266.
[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, no 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]
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, no 8, p. 1837-1853.
[6]
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.
[7]
E. Malis.
Visual servoing invariant to changes in camera intrinsic parameters, in: IEEE Transaction on Robotics and Automation, February 2004, vol. 20, no 1, p. 72–81.
[8]
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.
[9]
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, no 1, p. 22-49.
[10]
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, no 4, p. 1227-1249.
[11]
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, no 9, p. 1496-1508.
[12]
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, no 1, p. 32–57.
[13]
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.
[14]
P. Morin, C. Samson.
Control of nonholonomic mobile robots based on the transverse function approach, in: IEEE Transactions on Robotics, 2009, vol. 25, no 5, p. 1058-1073.
[15]
P. Rives, M. Devy.
Perception pour la localisation, in: La robotique mobile, J.-P. Laumond (editor), Hermes, 2001.
[16]
P. Rives, M. Devy.
Perception pour la navigation et la commande, in: La robotique mobile, J.-P. Laumond (editor), Hermes, 2001.
[17]
C. Samson, M. Leborgne, B. Espiau.
Robot control. The Task Function approach, Oxford Engineering Series, Oxford University Press, 1991, vol. 22.
[18]
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.).
[19]
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, no 1, p. 64-77.
[20]
G. Silveira, E. Malis.
Real-time Visual Tracking under Arbitrary Illumination Changes, in: IEEE Computer Vision and Pattern Recognition, Minneapolis, USA, June 2007.
[21]
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, no 12, p. 1005-1019.
[22]
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, no 12, p. 1019-1041.

Publications of the year

Doctoral Dissertations and Habilitation Theses

[23]
T. Goncalves.
Aircraft Control by Visual Servoing, Université de Nice-Sophia-Antipolis et Universidade Técnica de Lisboa (co-tutelle), December 2010.
[24]
C. Joly.
Contributions aux méthodes de localisation et cartographie simultanées par vision omnidirectionnelle, Doctorat ParisTech, June 2010.
[25]
A. Salazar.
Direct Self-Calibration of Central Catadioptric Omnidirectional Cameras, Doctorat ParisTech, December 2010.

Articles in International Peer-Reviewed Journal

[26]
A. I. Comport, E. Malis, P. Rives.
Real-time quadrifocal visual odometry, in: Int. Journal of Robotics Research, 2010, vol. 29, no 2–3, p. 245–266.
[27]
M.-D. Hua.
Attitude estimation for accelerated vehicles using GPS/INS measurements, in: Control Engineering Practice, 2010, vol. 18, no 7, p. 723–732.
[28]
E. Malis, Y. Mezouar, P. Rives.
Robustness of image-based visual servoing with a calibrated camera in the presence of uncertainties in the 3d structure, in: IEEE Transactions on Robotics, 2010, vol. 26, no 1, p. 112–120.

International Peer-Reviewed Conference/Proceedings

[29]
G. Gallegos, M. Meilland, P. Rives, A. I. Comport.
Appearance-Based SLAM Relying on a Hybrid Laser/Omnidirectional Sensor, in: IEEE/RSJ International Conference on Intelligent Robots Systems (IROS), Taipe, Taiwan, October 2010.
[30]
G. Gallegos, P. Rives.
Indoor SLAM based on Composite Sensor mixing Laser Scans and Omnidirectional Images, in: IEEE International Conference on Robotics and Automation, Anchorage, USA, May 2010.
[31]
T. Goncalves, J. R. Azinheira, P. Rives.
Homography-based Visual Servoing of an Aircraft for Automatic Approach and Landing, in: IEEE International Conference on Robotics and Automation, Anchorage, USA, May 2010.
[32]
C. Joly, P. Rives.
Bearing-only SAM Using a Minimal Inverse Depth Parametrization: Application to Omnidirectional SLAM, in: ICINCO'10, Funchal, Portugal, June 2010.
[33]
M. Meilland, A. I. Comport, P. Rives.
A Spherical Robot-Centered Representation for Urban Navigation, in: IEEE/RSJ International Conference on Intelligent Robots Systems (IROS), Taipe, Taiwan, October 2010.
[34]
P. Morin, C. Samson.
Feedback control of a wheeled snake mechanism with the Transverse function approach, in: IEEE Conference on Decision and Control, Atlanta, USA, December 2010.

Scientific Books (or Scientific Book chapters)

[35]
E. Malis, T. Hamel, R. Mahony, P. Morin.
Estimation of homography dynamics on the special linear group, in: Visual Servoing via Advanced Numerical methods, G. Chesi, K. Hashimoto (editors), Springer, 2010, p. 139–158.

Other Publications

[36]
M. Seiler.
Développement d'un capteur de vision sphérique pour la robotique mobile autonome, Mines-ParisTech, September 2010.

References in notes

[37]
A. Bacciotti.
Local stabilizability of nonlinear control systems, World Scientific, 1991.
[38]
T. Bailey, H. Durrant-Whyte.
Simultaneous Localisation and Mapping (SLAM): Part II - State of the Art, in: Robotics and Automation Magazine, 2006.
[39]
A. Bartoli, A. Zisserman.
Direct estimation of non-rigid registrations, in: British machine vision conference, 2004, vol. 2, p. 899-908.
[40]
M. K. Bennani, P. Rouchon.
Robust stabilization of flat and chained systems, in: European Control Conference (ECC), 1995, p. 2642–2646.
[41]
R. Brockett.
Asymptotic stability and feedback stabilization, in: Differential Geometric Control Theory, R. Brockett, R. Millman, H. Sussmann (editors), Birkauser, 1983.
[42]
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, no 2, p. 125-137.
[43]
J. Civera, A. J. Davion, J. M. Montiel.
Inverse Depth Parametrization for Monocular SLAM, in: IEEE Transactions On Robotics, October 2008, vol. 24, no 5.
[44]
R. L. Cook, K. E. Torrance.
A Reflectance Model for Computer Graphics, in: ACM Trans. Graph., January 1982, vol. 1, no 1, p. 7–24.
[45]
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, no 2, p. 195 - 221.
[46]
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.
[47]
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.
[48]
H. Durrant-Whyte, T. Bailey.
Simultaneous Localisation and Mapping (SLAM): Part I The Essential Algorithms, in: Robotics and Automation Magazine, 2006.
[49]
E. D. Eade, T. W. Drummond.
Edge Landmarks in Monocular SLAM, in: British Machine Vision Conference, 2006.
[50]
B. Espiau.
Effect of Camera Calibration Errors on Visual Servoing in Robotics, in: 3rd International Symposium on Experimental Robotics, Kyoto, Japan, October 1993.
[51]
S. Hutchinson, G. Hager, P. I. Corke.
A tutorial on Visual Servo Control, in: IEEE Transactions on Robotics and Automation, October 1996, vol. 12, no 5, p. 651-670.
[52]
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.
[53]
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, no 1-2, p. 47-63.
[54]
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.
[55]
G. Lafferriere, H. Sussmann.
A differential geometric approach to motion planning, in: Nonholonomic motion planning, Z. Li, J. Canny (editors), Kluwer Academic Press, 1993.
[56]
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.
[57]
F. Lu, E. Milios.
Globally consistent range scan alignment for environment mapping, in: Autonomous Robots, 1997, vol. 4, p. 333-349.
[58]
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.
[59]
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.
[60]
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.
[61]
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.
[62]
A. Micaelli, C. Samson.
Trajectory tracking for two-steering-wheels mobile robots, in: Proc. Symp. Robot Control'94, Capri, Italy, 1994.
[63]
P. Morin, C. Samson.
Stabilization of trajectories for systems on Lie groups. Application to the rolling sphere, in: IFAC world Congress, 2008.
[64]
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.
[65]
B. Phong.
Illumination for computer-generated pictures, in: Communication of ACM, June 1975, vol. 18, no 6, p. 311–317.
[66]
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.
[67]
A. Ranganathan, M. Kaess, F. Dellaert.
Loopy SAM, in: Intl. Joint Conf. on Artificial Intelligence, IJCAI, Hyderabad, India, Jan 2007.
[68]
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.
[69]
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.
[70]
P. Smith, N. Nandhakumar, A. Radamorai.
Vision based manipulation of non rigid objects, in: International Conference on Robotics and Automation, April 1996, p. 3191-3196.
[71]
J. Solà, M. Devy, A. Monin, T. Lemaire.
Undelayed initialization in bearing only SLAM, in: IEEE International Conference on Intelligent Robots and Systems, 2005.
[72]
E. D. Sontag.
Universal nonsingular controls, in: Systems and Control Letters, 1992, vol. 19, p. 221–224.
[73]
S. Thrun, W. Burgard, D. Fox.
Probabilistic Robotics, MIT Press, 2005.
[74]
D. Tsakiris, K. Kapellos, C. Samson, P. Rives, J.-J. Borelly.
Experiments in real-time vision-based point stabilization of a nonholonomic mobile manipulator, in: Experimental Robotics V: The Fifth Int. Symp., A. Casals, A. de Almeida (editors), Springer-Verlag, 1998.

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