Date: thursday 14, november 2014, 10h30 am
Place: Mines ParisTech 60 boulevard Saint-Michel 75006 Paris salle L106
This thesis is dedicated to the non-linear control of a special hybrid quadrotor which is able to fly, and slide on the ground like an hovercraft. In the context of an autonomous indoor exploration this hybrid concept allows saving energy when flying is not necessary, since the drone can then slide on the ground without having to compensate for the gravity; autonomy can last beyond the 20 minutes typical of a standard quadrotor. Contrarily to wheeled mobile robots, the hybrid drone ability to move across space is strongly increased since it can fly to avoid obstacles, to move between two levels, to get in through a window. The study under consideration is essentially focused on the displacement of the drone on the ground and aims at designing and implementing a control law so that our system is able to track a 2D xy plane trajectory. This terrestrial quadrotor is similar to a slider underactuated vehicle. The point stabilisation is then separately studied from the trajectory tracking issue because of the Brockett condition, which is not satisfied in that case; our platform cannot be stabilized by means of continuous state feedbacks. This thesis proposes different theoretical developments based on the literature and deriving from time varying control laws, transverse functions, flatness or backstepping techniques to solve both point stabilisation and trajectory tracking. The experimental part of the thesis is based on the recovering of the drone position in real time and orientation via a Motion Capture system for feedback loop in the control law; the proposed dynamical model was validated as well as the control and command laws for the tracking of a circular trajectory.
Keywords: Quadrotors, hovercraft, underactuated system, non linear control, trajectory tracking, point stabilisation, autonomous indoor exploration.
The annual workshop organized by the members of LIMA project at MINES ParisTech is a great success. You can find the program here.
Place: Mines ParisTech 60 boulevard Saint-Michel 75006 Paris salle L109
|M. David FILLIAT||U2IS – ENSTA ParisTech||Examiner|
|M. Olivier STASSE||LAAS – CNRS||Examiner|
|Arnaud DE LA FORTELLE||MINES ParisTech – CAOR||Director|
|M. Fabien MOUTARDE||MINES ParisTech – CAOR||Co-Director|
|M. Rodolphe GELIN||Aldebaran||Co-Director|
|M. Pierre VANDERGHEYNST||EPFL||Examiner|
|M. Patrick RIVES||INRIA Sophia Antipolis||Examiner|
|M. Roland CHAPUIS||Institut Pascal||Examiner|
This entry is only available in french…
The lab is pleased to announce the Ph.D. defense of Jean Gregoire which take place on september, monday 29 at 3H30 PM, in room L109.
Keywords : mobile robots, motion planning, coordination, multi robot systems, robustness, three-layer architecture
Since the end of the 1980’s, the development of self-driven autonomous vehicles is an intensive research area in most major industrial countries. Positive socio-economic potential impacts include a decrease of crashes, a reduction of travel times, energy efficiency improvements, and a reduced need of costly physical infrastructure. Some form of vehicle-to-vehicle and/or vehicle-to-infrastructure cooperation is required to ensure a safe and efficient global transportation system. This thesis deals with a particular form of cooperation by studying the problem of coordinating multiple mobile robots at an intersection area. Most of coordination systems proposed in previous work consist of planning a trajectory and to control the robots along the planned trajectory: that is the plan-as-program paradigm where planning is considered as a generative mechanism of action. The approach of the thesis is to plan priorities – the relative order of robots to go through the intersection – which is much weaker as many trajectories respect the same priorities. Then, priorities are merely used as a coordination resource to guide robots through the intersection. Once priorities are assigned, robots are controlled through a control law preserving the assigned priorities. It results in a more robust coordination system – able to handle a large class of unexpected events in a reactive manner – particularly well adapted for an application to the coordination of autonomous vehicles at intersections where cars, public transport and pedestrians share the road.
“Network of automated vehicles: the AutoNet 2030 vision” was presented at the ITS World Congress. This paper give an overview on the network of automated vehicles for 2030.
A paper was published in IEEE ITS 2014 (november, China). The title is “Priority-based coordination of autonomous and legacy vehicles at intersection”.
The preprint is available here:
This entry is only available in french…
The International Congress on Intelligent Transport Systems (ITS) to be held from 5 to 9 October 2015 in Bordeaux has published a call for demonstration.
More information can be found on the official conference website:
The call for demonstrations is available here: