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Bibliography

Major publications by the team in recent years
  • 1S. 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.
  • 2A. 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.
  • 3B. 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.
  • 4M. 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.
  • 5M.-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.
  • 6E. Malis.

    Improving vision-based control using efficient second-order minimization techniques, in: IEEE International Conference on Robotics and Automation, New Orleans, USA, May 2004.
  • 7E. 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.
  • 8C. 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.
  • 9P. 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.
  • 10P. 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.
  • 11P. 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.
  • 12P. 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.
  • 13P. 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.
  • 14P. 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.
  • 15P. Rives, M. Devy.

    Perception pour la localisation, in: La robotique mobile, J.-P. Laumond (editor), Hermes, 2001.
  • 16P. Rives, M. Devy.

    Perception pour la navigation et la commande, in: La robotique mobile, J.-P. Laumond (editor), Hermes, 2001.
  • 17C. Samson, M. Leborgne, B. Espiau.

    Robot control. The Task Function approach, Oxford Engineering Series, Oxford University Press, 1991, vol. 22.
  • 18C. 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.).
  • 19C. 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.
  • 20G. Silveira, E. Malis.

    Real-time Visual Tracking under Arbitrary Illumination Changes, in: IEEE Computer Vision and Pattern Recognition, Minneapolis, USA, June 2007.
  • 21A. 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.
  • 22A. 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

  • 23G. Gallegos Garrido.

    Développement d'un capteur composite Vision/Laser à couplage serré pour le SLAM d'intérieur, Ecole Nationale Supérieure des Mines de Paris, June 2011.

    http://hal.inria.fr/tel-00604647/en
  • 24A. Salazar-Garibay.

    Direct Self-Calibration of Central Catadioptric Omnidirectional Cameras, Ecole Nationale Supérieure des Mines de Paris, September 2011.

Articles in International Peer-Reviewed Journal

  • 25M.-D. Hua, C. Samson.

    Time sub-optimal nonlinear PI and PID controllers applied to longitudinal headway car control, in: International Journal of Control, October 2011, vol. 84, no 10, p. 1717–1728.

International Conferences with Proceedings

  • 26C. Audras, A. Comport, M. Meilland, P. Rives.

    Real-time dense RGB-D localisation and mapping, in: Australian Conference on Robotics and Automation, Monash University, Australia, December 7-9 2011.
  • 27A. Chapoulie, P. Rives, D. Filliat.

    A Spherical Representation for Efficient Visual Loop Closing, in: Proceedings of the 11th workshop on Omnidirectional Vision, Camera Networks and Non-classical Cameras (OMNIVIS 2011), Barcelone, Spain, November 2011.
  • 28A. Comport, M. Meilland, P. Rives.

    An asymmetric real-time dense visual localisation and mapping system, in: First International Workshop on Live Dense Reconstruction from Moving Cameras In conjunction with the International Conference on Computer Vision (ICCV), Barcelona, Spain, November 2011.
  • 29M.-D. Hua, C. Samson.

    Time sub-optimal nonlinear PI and PID controllers applied to longitudinal headway car control, in: IFAC 2011, Milan, Italy, August-September 2011.
  • 30C. Joly, P. Rives.

    Self calibration of a vision system embedded in a visual SLAM framework, in: IEEE Conference on Intelligent Robots and Systems, IROS'11, San Francisco, USA, September 2011. [ DOI : 10.1109/IROS.2011.6048678 ]
  • 31M. Meilland, A. Comport, P. Rives.

    Dense visual mapping of large scale environments for real-time localisation, in: IEEE Conference on Intelligent Robots and Systems, IROS'11, San Fransisco, USA, September 2011.
  • 32M. Meilland, A. Comport, P. Rives.

    Real-time Direct Model-based Tracking under Large Lighting variations, in: British Machine Vision Conference, University of Dundee, Scotland, September 2011.
  • 33P. Morin, C. Samson.

    Control of two-steering-wheels vehicles with the Transverse Function approach, in: IEEE Conference on Decision and Control, Orlando, USA, December 2011.
  • 34D. Pucci, T. Hamel, P. Morin, C. Samson.

    Nonlinear control of PVTOL Vehicles subjected to Drag and Lift, in: IEEE Conference on Decision and Control, Orlando, USA, December 2011.
  • 35G. Scandaroli, P. Morin, G. Silveira.

    A nonlinear observer approach for concurent estimation of pose, IMU bias and camera to IMU rotation, in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, USA, October 2011.
  • 36G. Scandaroli, P. Morin.

    Nonlinear filter design for pose and IMU bias estimation, in: IEEE Conference on Robotics and Automation (ICRA), Shanghai, China, May 2011.
  • 37H. de Plinval, P. Morin, P. Mouyon, T. Hamel.

    Visual servoing for underactuated VTOL UAVs: a linear, homography-based approach, in: IEEE Conference on Robotics and Automation (ICRA), Shanghai, China, May 2011.

Internal Reports

References in notes
  • 39A. Bacciotti.

    Local stabilizability of nonlinear control systems, World Scientific, 1991.
  • 40T. Bailey, H. Durrant-Whyte.

    Simultaneous Localisation and Mapping (SLAM): Part II - State of the Art, in: Robotics and Automation Magazine, 2006.
  • 41A. Bartoli, A. Zisserman.

    Direct estimation of non-rigid registrations, in: British machine vision conference, 2004, vol. 2, p. 899-908.
  • 42M. K. Bennani, P. Rouchon.

    Robust stabilization of flat and chained systems, in: European Control Conference (ECC), 1995, p. 2642–2646.
  • 43R. Brockett.

    Asymptotic stability and feedback stabilization, in: Differential Geometric Control Theory, R. Brockett, R. Millman, H. Sussmann (editors), Birkauser, 1983.
  • 44H. 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.
  • 45R. L. Cook, K. E. Torrance.

    A Reflectance Model for Computer Graphics, in: ACM Trans. Graph., January 1982, vol. 1, no 1, p. 7–24.
  • 46P. 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.
  • 47A. 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.
  • 48M. Deans, M. Hebert.

    Experimental comparison of techniques for localization and mapping using a bearings only sensor, in: Seventh International Symposium on Experimental Robotics, 2000.
  • 49H. Durrant-Whyte, T. Bailey.

    Simultaneous Localisation and Mapping (SLAM): Part I The Essential Algorithms, in: Robotics and Automation Magazine, 2006.
  • 50E. D. Eade, T. W. Drummond.

    Edge Landmarks in Monocular SLAM, in: British Machine Vision Conference, 2006.
  • 51B. Espiau.

    Effect of Camera Calibration Errors on Visual Servoing in Robotics, in: 3rd International Symposium on Experimental Robotics, Kyoto, Japan, October 1993.
  • 52M.-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.
  • 53S. 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.
  • 54M. 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.
  • 55B. 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.
  • 56N. M. Kwok, G. Dissanayake.

    An Efficient Multiple Hypothesis Filter for Bearing-Only SLAM, in: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004.
  • 57G. Lafferriere, H. Sussmann.

    A differential geometric approach to motion planning, in: Nonholonomic motion planning, Z. Li, J. Canny (editors), Kluwer Academic Press, 1993.
  • 58D. 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.
  • 59F. Lu, E. Milios.

    Globally consistent range scan alignment for environment mapping, in: Autonomous Robots, 1997, vol. 4, p. 333-349.
  • 60M. 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.
  • 61E. 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.
  • 62M. 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.
  • 63Y. 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.
  • 64P. Morin, C. Samson.

    Stabilization of trajectories for systems on Lie groups. Application to the rolling sphere, in: IFAC world Congress, 2008.
  • 65P. 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.
  • 66P. 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.
  • 67B. Phong.

    Illumination for computer-generated pictures, in: Communication of ACM, June 1975, vol. 18, no 6, p. 311–317.
  • 68N. 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.
  • 69A. Ranganathan, M. Kaess, F. Dellaert.

    Loopy SAM, in: Intl. Joint Conf. on Artificial Intelligence, IJCAI, Hyderabad, India, Jan 2007.
  • 70G. 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.
  • 71P. Smith, N. Nandhakumar, A. Radamorai.

    Vision based manipulation of non rigid objects, in: International Conference on Robotics and Automation, April 1996, p. 3191-3196.
  • 72J. Solà, M. Devy, A. Monin, T. Lemaire.

    Undelayed initialization in bearing only SLAM, in: IEEE International Conference on Intelligent Robots and Systems, 2005.
  • 73E. D. Sontag.

    Universal nonsingular controls, in: Systems and Control Letters, 1992, vol. 19, p. 221–224.
  • 74S. Thrun, W. Burgard, D. Fox.

    Probabilistic Robotics, MIT Press, 2005.
  • 75D. 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.