Team, Visitors, External Collaborators
Overall Objectives
Research Program
Application Domains
New Software and Platforms
New Results
Bilateral Contracts and Grants with Industry
Partnerships and Cooperations
Dissemination
Bibliography
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Bibliography

Major publications by the team in recent years
[1]
M. Boussaha, B. Vallet, P. Rives.
Large scale textured mesh reconstruction from mobile mapping images and lidar scans, in: ISPRS 2018 - International Society for Photogrammetry and Remote Sensing, Istanbul, Turkey, March 2018, pp. 49-56. [ DOI : 10.5194/isprs-annals-IV-2-49-2018 ]
https://hal.archives-ouvertes.fr/hal-01764547
[2]
M. Cognetti, P. Salaris, P. Robuffo Giordano.
Optimal Active Sensing with Process and Measurement Noise, in: ICRA 2018 - IEEE International Conference on Robotics and Automation, Brisbane, Australia, IEEE, May 2018, pp. 2118-2125. [ DOI : 10.1109/ICRA.2018.8460476 ]
https://hal.inria.fr/hal-01717180
[3]
F. Fusco, O. Kermorgant, P. Martinet.
Constrained Path Planning using Quadratic Programming, in: IROS 2018 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, October 2018.
https://hal.archives-ouvertes.fr/hal-01867331
[4]
F. Fusco, O. Kermorgant, P. Martinet.
A Comparison of Visual Servoing from Features Velocity and Acceleration Interaction Models, in: IROS 2019 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Macau, China, October 2019.
https://hal.archives-ouvertes.fr/hal-02183760
[5]
A. Khalifa, O. Kermorgant, S. Dominguez-Quijada, P. Martinet.
An Observer-based Longitudinal Control of Car-like Vehicles Platoon Navigating in an Urban Environment, in: CDC 2019 - 58th IEEE Conference on Decision and Control, Nice, France, December 2019, pp. 5742-5747.
https://hal.archives-ouvertes.fr/hal-02273504
[6]
A. Khalifa, O. Kermorgant, S. Dominguez-Quijada, P. Martinet.
Vehicles Platooning in Urban Environments: Integrated Consensus-based Longitudinal Control with Gap Closure Maneuvering and Collision Avoidance Capabilities, in: ECC19 - European Control Conference, Naples, Italy, June 2019, pp. 1695-1701.
https://hal.archives-ouvertes.fr/hal-02057396
[7]
E. R. Nascimento, G. Potje, R. Martins, F. Cadar, M. F. M. Campos, R. Bajcsy.
GEOBIT: A Geodesic-Based Binary Descriptor Invariant to Non-Rigid Deformations for RGB-D Images, in: ICCV 2019 - International Conference on Computer Vision, Seoul, South Korea, October 2019.
https://hal.inria.fr/hal-02370753
[8]
A. Perez-Yus, E. Fernandez-Moral, G. Lopez-Nicolas, J. J. Guerrero, P. Rives.
Extrinsic Calibration of Multiple RGB-D Cameras From Line Observations, in: IEEE Robotics and Automation Letters, 2018, vol. 3, no 1, pp. 273-280. [ DOI : 10.1109/LRA.2017.2739104 ]
https://hal.inria.fr/hal-01581523
[9]
D. Pérez-Morales, O. Kermorgant, S. Dominguez-Quijada, P. Martinet.
Automatic Perpendicular and Diagonal Unparking Using a Multi-Sensor-Based Control Approach, in: ICARCV 2018 - The 15 th International Conference on Control, Automation, Robotics and Vision, Singapore, Singapore, November 2018.
https://hal.archives-ouvertes.fr/hal-01874140
[10]
P. Salaris, M. Cognetti, R. Spica, P. Robuffo Giordano.
Online Optimal Perception-Aware Trajectory Generation, in: IEEE Transactions on Robotics, 2019, pp. 1-16. [ DOI : 10.1109/TRO.2019.2931137 ]
https://hal.inria.fr/hal-02278900
Publications of the year

Articles in International Peer-Reviewed Journals

[11]
R. Martins, D. Bersan, M. F. M. Campos, E. R. Nascimento.
Extending Maps with Semantic and Contextual Object Information for Robot Navigation: a Learning-Based Framework using Visual and Depth Cues, in: Journal of Intelligent and Robotic Systems, December 2019.
https://hal.inria.fr/hal-02418347
[12]
P. Salaris, M. Cognetti, R. Spica, P. Robuffo Giordano.
Online Optimal Perception-Aware Trajectory Generation, in: IEEE Transactions on Robotics, 2019, pp. 1-16. [ DOI : 10.1109/TRO.2019.2931137 ]
https://hal.inria.fr/hal-02278900

International Conferences with Proceedings

[13]
F. Fusco, O. Kermorgant, P. Martinet.
A Comparison of Visual Servoing from Features Velocity and Acceleration Interaction Models, in: IROS 2019 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Macau, China, Proceedings of IROS 2019, October 2019.
https://hal.archives-ouvertes.fr/hal-02183760
[14]
A. Khalifa, O. Kermorgant, S. Dominguez-Quijada, P. Martinet.
An Observer-based Longitudinal Control of Car-like Vehicles Platoon Navigating in an Urban Environment, in: CDC 2019 - 58th IEEE Conference on Decision and Control, Nice, France, December 2019.
https://hal.archives-ouvertes.fr/hal-02273504
[15]
A. Khalifa, O. Kermorgant, S. Dominguez-Quijada, P. Martinet.
Vehicles Platooning in Urban Environments: Integrated Consensus-based Longitudinal Control with Gap Closure Maneuvering and Collision Avoidance Capabilities, in: ECC19 - European Control Conference, Naples, Italy, June 2019.
https://hal.archives-ouvertes.fr/hal-02057396
[16]
E. R. Nascimento, G. Potje, R. Martins, F. Cadar, M. F. M. Campos, R. Bajcsy.
GEOBIT: A Geodesic-Based Binary Descriptor Invariant to Non-Rigid Deformations for RGB-D Images, in: ICCV 2019 - International Conference on Computer Vision, Seoul, South Korea, October 2019.
https://hal.inria.fr/hal-02370753
References in notes
[17]
M. Boussaha, E. Fernandez-Moral, B. Vallet, P. Rives.
On the production of semantic and textured 3d meshes of large scale urban environments from mobile mapping images and lidar scans, in: Reconnaissance des Formes, Image, Apprentissage et Perception (RFIAP), 2018.
[18]
S. Briot, P. Martinet.
Minimal Representation for the Control of Gough-Stewart Platforms via Leg Observation Considering a Hidden Robot Model, in: the 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 2013, pp. 4653-4658.
https://hal.archives-ouvertes.fr/hal-00770761
[19]
S. Briot, P. Martinet, F. Chaumette.
Determining the Singularities for the Observation of Three Image Lines, in: IEEE Robotics and Automation Letters, April 2017, vol. 2, no 2, pp. 412-419.
https://hal.archives-ouvertes.fr/hal-01398925
[20]
A. Chriette, S. Vandernotte, P. Martinet, A. S. Roos.
Dynamic sensor-based control, in: 2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV), Phuket, France, IEEE, November 2016.
https://hal.archives-ouvertes.fr/hal-01774848
[21]
M. Cognetti, P. Salaris, P. Robuffo Giordano.
Optimal Active Sensing with Process and Measurement Noise, in: ICRA 2018 - IEEE International Conference on Robotics and Automation, Brisbane, Australia, IEEE, May 2018, pp. 2118-2125. [ DOI : 10.1109/ICRA.2018.8460476 ]
https://hal.inria.fr/hal-01717180
[22]
K. Dautenhahn, M. Walters, S. Woods, K. L. Koay, C. L. Nehaniv, E. A. Sisbot, R. Alami, T. Simeon.
How May I Serve You? A Robot Companion Approaching a Seated Person in a Helping Context, in: 1st ACM SIGCHI/SIGART Conference on Human-Robot Interaction (HRI'06), Salt Lake City, UT, United States, HRI 2006 Proceedings of the 1st ACM SIGCHI/SIGART conference on Human-robot interaction, ACM, March 2006, pp. 172-179.
https://hal.laas.fr/hal-01979221
[23]
S. Dominguez-Quijada, A. Ali, G. Garcia, P. Martinet.
Comparison of lateral controllers for autonomous vehicle : experimental results, in: 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC 2016), Rio de Janeiro, Brazil, November 2016.
https://hal.archives-ouvertes.fr/hal-02440161
[24]
A. Dosovitskiy, P. Fischer, E. Ilg, P. Hasser, C. G. V. Hazrbas.
Flownet: Learning optical flow with convolutional networks, in: International Conference on Computer Vision (ICCV), 2015.
[25]
A. Elfes.
Using occupancy grids for mobile robot perception and navigation, in: Computer, June 1989, vol. 22, no 6, pp. 46-57.
[26]
Ö. Erkent, C. Wolf, C. Laugier, D. Sierra González, V. R. Cano.
Semantic Grid Estimation with a Hybrid Bayesian and Deep Neural Network Approach, in: IROS 2018 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, IEEE, October 2018, pp. 1-8.
https://hal.inria.fr/hal-01881377
[27]
F. Farina, D. Fontanelli, A. Garulli, A. Giannitrapani, D. Prattichizzo.
Walking Ahead: The Headed Social Force Model, in: Plos One, Jan 2017, vol. 12.
https://journals.plos.org/plosone/article/file?id=10.1371/journal.pone.0169734&type=printable
[28]
F. Favarò, S. Eurich, N. Nader.
Autonomous vehicles’ disengagements: Trends, triggers, and regulatory limitations, in: Accident Analysis & Prevention, 2018, vol. 110, pp. 136-148.
http://www.sciencedirect.com/science/article/pii/S0001457517303822
[29]
E. Fernandez-Moral, R. Martins, D. Wolf, P. Rives.
A new metric for evaluating semantic segmentation: leveraging global and contour accuracy, in: Workshop on Planning, Perception and Navigation for Intelligent Vehicles, PPNIV17, Vancouver, Canada, September 2017.
https://hal.inria.fr/hal-01581525
[30]
E. Fernandez-Moral, R. Martins, D. Wolf, P. Rives.
A new metric for evaluating semantic segmentation: leveraging global and contour accuracy, in: 2018 IEEE Intelligent Vehicles Symposium (IV), 2018.
[31]
G. Ferrer, A. Zulueta, F. Herrero Cotarelo, A. Sanfeliu.
Robot social-aware navigation framework to accompany people walking side-by-side, in: Autonomous Robots, Apr 2017, vol. 41, pp. 775-793.
http://dx.doi.org/10.1007/s10514-016-9584-y
[32]
F. Fusco, O. Kermorgant, P. Martinet.
Constrained Path Planning using Quadratic Programming, in: IROS 2018 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, October 2018.
https://hal.archives-ouvertes.fr/hal-01867331
[33]
G. Garcia, S. Dominguez-Quijada, J. Blosseville, A. Hamon, X. Koreki, P. Martinet.
Experimental study of the precision of a multi-map AMCL-based localization system, in: 9th Workshop on Planning, Perception and Navigation for Intelligent Vehicle, Vancouver, Canada, September 2017.
https://hal.inria.fr/hal-02440155
[34]
D. Helbing, P. Molnár.
Social force model for pedestrian dynamics, in: Phys. Rev. E, May 1995, vol. 51, pp. 4282–4286.
https://link.aps.org/doi/10.1103/PhysRevE.51.4282
[35]
A. Hornung, K. Wurm, M. Bennewitz, C. Stachniss, W. Burgard.
OctoMap: an efficient probabilistic 3D mapping framework based on octrees, in: Autonomous Robots, Apr 2013, vol. 34, no 3, pp. 1189-1206.
https://doi.org/10.1007/s10514-012-9321-0
[36]
E. Ilg, N. Mayer, T. Saikia, M. Keuper, A. Dosovitskiy, T. Brox.
Flownet 2.0: Evolution of optical flow estimation with deep networks, in: IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2017.
[37]
W. Jin.
Proactive-Cooperative navigation in crowded environments for autonomous robots, Master thesis, Ecole Centrale de Nantes, August 2019.
[38]
A. Khalifa, O. Kermorgant, S. Dominguez-Quijada, P. Martinet.
Vehicles Platooning in Urban Environment: Consensus-based Longitudinal Control with Limited Communications Capabilities, in: International Conference on Control, Automation, Robotics and Vision, Singapore, Singapore, November 2018.
https://hal.archives-ouvertes.fr/hal-01866884
[39]
S. S. Kia, S. Rounds, S. Martinez.
Cooperative Localization for Mobile Agents: A Recursive Decentralized Algorithm Based on Kalman-Filter Decoupling, in: IEEE Control Systems Magazine, April 2016, vol. 36, no 2, pp. 86-101.
https://doi.org/10.1109/MCS.2015.2512033
[40]
K. Lee, D. Kum.
Collision Avoidance/Mitigation System: Motion Planning of Autonomous Vehicle via Predictive Occupancy Map, in: IEEE Access, 2019, vol. 7, pp. 52846-52857.
http://dx.doi.org/10.1109/ACCESS.2019.2912067
[41]
R. Martins, E. Fernandez-Moral, P. Rives.
An Efficient Rotation and Translation Decoupled Initialization from Large Field of View Depth Images, in: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'17, Vancouver, Canada, September 2017, pp. 5750-5755.
https://hal.inria.fr/hal-01581524
[42]
F. Paccot, P. Lemoine, N. Andreff, D. Chablat, P. Martinet.
A Vision-based Computed Torque Control for Parallel Kinematic Machines, in: IEEE International Conference on Robotics and Automation, ICRA 2008, Pasadena, United States, May 2008, pp. 1556-1561.
https://hal.archives-ouvertes.fr/hal-00330762
[43]
V. Paduano.
Perception-Aware Human-Assisted Navigation of Mobile Robots on Persistent Trajectories, Master thesis, Sapienza Univerdita di Roma, August 2019.
[44]
A. Perez-Yus, E. Fernandez-Moral, G. Lopez-Nicolas, J. J. Guerrero, P. Rives.
Extrinsic Calibration of Multiple RGB-D Cameras From Line Observations, in: IEEE Robotics and Automation Letters, 2018, vol. 3, no 1, pp. 273-280.
https://hal.inria.fr/hal-01581523
[45]
D. Pérez-Morales, S. Dominguez-Quijada, O. Kermorgant, P. Martinet.
Autonomous parking using a sensor based approach, in: 8th Workshop on Planning, Perception and Navigation for Intelligent Vehicles at IEEE Int. Conf. on Intelligent Transportation Systems, Rio de Janeiro, Brazil, IEEE, November 2016.
https://hal.inria.fr/hal-01396998
[46]
D. Pérez-Morales, O. Kermorgant, S. Dominguez-Quijada, P. Martinet.
Autonomous Perpendicular And Parallel Parking Using Multi-Sensor Based Control, in: 9th Workshop on Planning, Perception and Navigation for Intelligent Vehicles at IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vancouver, Canada, September 2017.
https://hal.inria.fr/hal-01689850
[47]
D. Pérez-Morales, O. Kermorgant, S. Dominguez-Quijada, P. Martinet.
Automatic Perpendicular and Diagonal Unparking Using a Multi-Sensor-Based Control Approach, in: ICARCV 2018 - The 15 th International Conference on Control, Automation, Robotics and Vision, Singapore, Singapore, November 2018.
https://hal.archives-ouvertes.fr/hal-01874140
[48]
D. Pérez-Morales, O. Kermorgant, S. Dominguez-Quijada, P. Martinet.
Laser-Based Control Law For Autonomous Parallel And Perpendicular Parking, in: International Conference on Robotic Computing, Laguna Hills, United States, January 2018.
https://hal.inria.fr/hal-01689875
[49]
D. Pérez-Morales, O. Kermorgant, S. Dominguez-Quijada, P. Martinet.
Multi-Sensor-Based Predictive Control for Autonomous Backward Perpendicular and Diagonal Parking, in: 10th workshop on Planning, Perception and Navigation for Intelligent Vehicles at Int. Conf. on Intelligent Robots and Systems, Madrid, Spain, October 2018.
https://hal.archives-ouvertes.fr/hal-01867303
[50]
A. Radgui, C. Demonceaux, E. M. Mouaddib, M. Rziza, D. Aboutajdine.
Optical flow estimation from multichannel spherical image decomposition, in: Computer Vision and Image Understanding, September 2011, vol. 115, no 9, pp. 1263-1272.
https://hal.archives-ouvertes.fr/hal-00637423
[51]
L. Rummelhard, J. Lussereau, J.-A. David, C. Laugier, S. Dominguez-Quijada, G. Garcia, P. Martinet.
Perception and Automation for Intelligent Mobility in Dynamic Environments, in: ICRA 2017 Workshop on Robotics and Vehicular Technologies for Self-driving cars, Singapore, Singapore, June 2017.
https://hal.inria.fr/hal-01592566
[52]
J. Thomas.
Autonomous Navigation based on Hidden Robot Concept, Master thesis, Ecole Centrale de Nantes, August 2019.
[53]
G. Williams, A. Aldrich, E. A. Theodorou.
Model Predictive Path Integral Control: From Theory to Parallel Computation, in: Journal of Guidance, Control, and Dynamics, 2017, vol. 40, no 2, pp. 344-357.
https://doi.org/10.2514/1.G001921
[54]
G. Williams, P. Drews, B. Goldfain, J. M. Rehg, E. A. Theodorou.
Information-Theoretic Model Predictive Control: Theory and Applications to Autonomous Driving, in: IEEE Transactions on Robotics, Dec 2018, vol. 34, no 6, pp. 1603-1622.
https://doi.org/10.1109/TRO.2018.2865891
[55]
H. Zhang.
Optical Flow Estimation In Spherical Images, Master thesis, UTC, Compiègne, August 2019.