Search

Your search keyword '"Martinet, Philippe"' showing total 513 results
Start Over Author "Martinet, Philippe"
Sorry, I don't understand your search. ×
513 results on '"Martinet, Philippe"'

2. Model Predictive Path Integral Control Framework for Partially Observable Navigation: A Quadrotor Case Study

Author

Mohamed, Ihab S., Allibert, Guillaume, and Martinet, Philippe

Subjects
Computer Science - Robotics, Electrical Engineering and Systems Science - Systems and Control
Abstract

Recently, Model Predictive Path Integral (MPPI) control algorithm has been extensively applied to autonomous navigation tasks, where the cost map is mostly assumed to be known and the 2D navigation tasks are only performed. In this paper, we propose a generic MPPI control framework that can be used for 2D or 3D autonomous navigation tasks in either fully or partially observable environments, which are the most prevalent in robotics applications. This framework exploits directly the 3D-voxel grid acquired from an on-board sensing system for performing collision-free navigation. We test the framework, in realistic RotorS-based simulation, on goal-oriented quadrotor navigation tasks in a cluttered environment, for both fully and partially observable scenarios. Preliminary results demonstrate that the proposed framework works perfectly, under partial observability, in 2D and 3D cluttered environments., Comment: 8 pages, 8 figures, 3 tables

Published
2020

3. Minimizing the Energy Consumption of a Delta Robot by Exploiting the Natural Dynamics

Author

Balderas Hill, Rafael, Briot, Sébastien, Chriette, Abdelhamid, Martinet, Philippe, Serafini, Paolo, Managing Editor, Guazzelli, Elisabeth, Series Editor, Rammerstorfer, Franz G., Series Editor, Wall, Wolfgang A., Series Editor, Schrefler, Bernhard, Series Editor, Venture, Gentiane, editor, Solis, Jorge, editor, Takeda, Yukio, editor, and Konno, Atsushi, editor

Published
2021
Full Text
View/download PDF

10. Improving Relaxation-Based Constrained Path Planning via Quadratic Programming

Author

Fusco, Franco, Kermorgant, Olivier, Martinet, Philippe, Kacprzyk, Janusz, Series Editor, Pal, Nikhil R., Advisory Editor, Bello Perez, Rafael, Advisory Editor, Corchado, Emilio S., Advisory Editor, Hagras, Hani, Advisory Editor, Kóczy, László T., Advisory Editor, Kreinovich, Vladik, Advisory Editor, Lin, Chin-Teng, Advisory Editor, Lu, Jie, Advisory Editor, Melin, Patricia, Advisory Editor, Nedjah, Nadia, Advisory Editor, Nguyen, Ngoc Thanh, Advisory Editor, Wang, Jun, Advisory Editor, Strand, Marcus, editor, Dillmann, Rüdiger, editor, Menegatti, Emanuele, editor, and Ghidoni, Stefano, editor

Published
2019
Full Text
View/download PDF

12. Design of a Wooden Five-Bar Mechanism

Author

Kaci, Lila, Briot, Sébastien, Boudaud, Clément, Martinet, Philippe, Serafini, Paolo, Series Editor, Guazzelli, Elisabeth, Series Editor, Rammerstorfer, Franz G., Series Editor, Schrefler, Bernhard, Series Editor, Wall, Wolfgang A., Series Editor, Arakelian, Vigen, editor, and Wenger, Philippe, editor

Published
2019
Full Text
View/download PDF

16. A Vision-based Computed Torque Control for Parallel Kinematic Machines

Author

Paccot, Flavien, Lemoine, Philippe, Andreff, Nicolas, Chablat, Damien, and Martinet, Philippe

Subjects
Computer Science - Robotics
Abstract

In this paper, a novel approach for parallel kinematic machine control relying on a fast exteroceptive measure is implemented and validated on the Orthoglide robot. This approach begins with rewriting the robot models as a function of the only end-effector pose. It is shown that such an operation reduces the model complexity. Then, this approach uses a classical Cartesian space computed torque control with a fast exteroceptive measure, reducing the control schemes complexity. Simulation results are given to show the expected performance improvements and experiments prove the practical feasibility of the approach.

Published
2008

18. Elastostatic Modelling of a Wooden Parallel Robot

Author

Kaci, Lila, Boudaud, Clement, Briot, Sebastien, Martinet, Philippe, Ceccarelli, Marco, Series editor, Corves, Burkhard, Advisory editor, Takeda, Yukio, Advisory editor, Zeghloul, Saïd, editor, Romdhane, Lotfi, editor, and Laribi, Med Amine, editor

Published
2018
Full Text
View/download PDF

39. Uncertainty-aware Navigation in Crowded Environment

Author

Alao, Emmanuel, Martinet, Philippe, Intelligence artificielle et algorithmes efficaces pour la robotique autonome (ACENTAURI), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Signal, Images et Systèmes (Laboratoire I3S - SIS), Laboratoire d'Informatique, Signaux, et Systèmes de Sophia Antipolis (I3S), Université Nice Sophia Antipolis (1965 - 2019) (UNS), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Université Côte d'Azur (UCA)-Université Nice Sophia Antipolis (1965 - 2019) (UNS), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Université Côte d'Azur (UCA)-Laboratoire d'Informatique, Signaux, et Systèmes de Sophia Antipolis (I3S), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Université Côte d'Azur (UCA), and ANR-17-CE33-0011,MOBI-DEEP,technology-aided MOBIlity by semantic DEEP learning(2017)

Subjects
[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]
Abstract

International audience; Robots are now widely used around humans, in homes and public places like the museums, all due to their many benefits. These autonomous robots are called social or service robots and they always find it difficult to navigatein crowded environments; largely because of the high level of uncertainty in observing and predicting human behaviours in a highly dynamic environment. Uncertainty is propagated during prediction and might grow to levels that renders the whole environment unsafe for the robot leading to the socalled Freezing Robot Problem – FRP. This work presents our proposed approach to proactively account for various uncertainties during the robot’s motion planning using a stochastic Nonlinear Model Predictive Controller (SNMPC). Additionally, using numerical optimization methods enables the planner to compute new control commands in realtime.

Published
2022
Full Text
View/download PDF

46. Simultaneous Object Pose and Velocity Computation Using a Single View from a Rolling Shutter Camera

Author

Ait-Aider, Omar, Andreff, Nicolas, Lavest, Jean Marc, Martinet, Philippe, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Nierstrasz, Oscar, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Sudan, Madhu, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Dough, Series editor, Vardi, Moshe Y., Series editor, Weikum, Gerhard, Series editor, Leonardis, Aleš, editor, Bischof, Horst, editor, and Pinz, Axel, editor

Published
2006
Full Text
View/download PDF

48. How To Evaluate the Navigation of Autonomous Vehicles Around Pedestrians?

Author

Kabtoul, Maria, Predhumeau, Manon, Spalanzani, Anne, Dugdale, Julie, and Martinet, Philippe

Abstract

The navigation of autonomous vehicles around pedestrians is a key challenge when driving in urban environments. It is essential to test the proposed navigation system using simulation before moving to real-life implementation and testing. Evaluating the performance of the system requires the design of a diverse set of tests which spans the targeted working scenarios and conditions. These tests can then undergo a process of evaluation using a set of adapted performance metrics. This work addresses the problem of performance evaluation for an autonomous vehicle in a shared space with pedestrians. The methodology for designing the test simulations is discussed. Moreover, a group of performance metrics is proposed to evaluate the different aspects of the navigation: the motion safety, the quality of the generated trajectory and the comfort of the pedestrians surrounding the vehicle. Furthermore, the success/fail criterion for each metric is discussed. The implementation of the proposed evaluation method is illustrated by evaluating the performance of a pre-designed proactive navigation system using a shared space crowd simulator under Robot Operating System (ROS).

Published
2024
Full Text
View/download PDF

Catalog

Books, media, physical & digital resources
See catalog results