Directory Intranet

Robotique aťrienne

Etude et mise en oeuvre de robots aériens

Référent(s) scientifique(s) : Nicolas MARCHAND, Ahmad HABLY
Responsable technique : Jonathan DUMON

La plateforme de robotique aérienne regroupe les moyens techniques du gipsa-lab pour la conception, la fabrication et l'étude des robots volants.

 

MOCA: Volière intérieure pour drones

-La volière est équipée de systèmes de capture de mouvements :Equipex Robotex MOCA, exploitée par le groupe de recherche Drone@Gipsa

MOCA

Système de capture de mouvement Vicon(c)

Les caméras reconstruisent la position des objets grâce à des marqueurs passifs qui relfechissent la lumière (proche infra-rouge) envoyée par les projecteurs.

Caractéristiques:

12 caméras T40s : capture marqueurs de Ø1,5mm à Ø14mm , 515i/s, 4Mpx

1 caméra Bonita vidéo 721 :1Mpx , 120i/s

Acquisition données analogiques 64 canaux

L'espace de capture mesure 5.6mx6.6m sur 2.9m de hauteur.

 

Soufflerie

-La soufflerie développée dans le cadre de l'étude des éoliennes volantes, exploitée par le groupe de recherche EOFLY.

windtunnel

 

Travaux scientifiques

Novel Hyperacute Gimbal Eye for Implementing Precise Hovering and Target Tracking on Board a Quadrotor

A. Manecy, J. Diperi, M. Boyron, N. Marchand and S. Viollet, Proceedings of 2016 IEEE International Conference on Robotics and Automation, 2016.

 

Biomimetic-Based Output Feedback for Attitude Stabilization of Rigid Bodies: Real-Time Experimentation on a Quadrotor

J.F. Guerrero Castellanos, H. Rifai, N. Marchand, R. Cruz-José, S. Mohammed, W.F. Guerrero Sanchez and G. Mino-Aguilar, Special issue on "Next Generation MEMS-Based Navigation—Systems and Applications", Micromachines, Vol. 6(8), pp. 993-1022, 2015. 

 

Position Control of a Quadrotor under External Constant Disturbance

J. Colmenares-Vazquez, N. Marchand, J.E. Gomez-Balderas, P. Castillo, J.J. Téllez-Guzmán, J. Álvarez-Muñoz and J. Dumon, Proc. of the Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), pp. Cancun, Mexico, 2015. 

 

Velocity control of mini-UAV using a helmet system

 J. J. Téllez-Guzmán, Jose-Ernesto Gomez-Balderas, Nicolas Marchand, Pedro Castillo, J Colmenares Vazquez, et al.. , Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), Nov 2015, Cancun, Mexico.

 

Nonlinear control of a nano-hexacopter carrying a manipulator arm

J.U. Álvarez-Muñoz, N. Marchand, J.F. Guerrero Castellanos, A.E. López-Luna and S. Durand

IEEE/RJS Int. Conf. on Intelligent Robots and Systems (IROS), 2015 

 

Integral Backstepping Control for Trajectory Tracking of a Hybrid Vehicle

J. Colmenares-Vazquez, P. Castillo, N. Marchand and J.E. Gomez-Balderas

International Conference on Unmanned Aircraft Systems (ICUAS), 2015 

 

Descriptor Approach for Attitude Estimation

Aida Makni, Alain Kibangou, hassen FOURATI

IEEE Multi-Conference on Systems and Control 2015

 

Event-triggered attitude control for flying robots using an event approach based on the control

J.F. Guerrero Castellanos, N. Marchand, S. Durand, A. Vega-Alonzo and J.J. Téllez-Guzmán

IEEE International Conference on Event-based Control, Communications & Signal Processing, 2015 


X4-MaG: a low-cost open-source micro-quadrotor and its Linux-based controller

A. Manecy, N. Marchand, F. Ruffier and S. Viollet

International Journal of Micro Air Vehicles, Vol. 7(2), pp. 89-109, 2015 

 

Attitude Stabilization of a Quadrotor by Means of Event-Triggered Nonlinear Control

J.-F. Guerrero Castellanos, J.J. Téllez-Guzmán, S. Durand, N. Marchand, J. Álvarez-Muñoz and V. González-Díaz

Journal of Intelligent and Robotic Systems, Vol. 73, pp. 123-135, 2014 

 

Hovering by Gazing: a Novel Strategy for Implementing Saccadic Flight-Based Navigation in GPS-Denied Environments

A. Manecy, N. Marchand and S. Viollet

International Journal of Advanced Robotic Systems, Vol. 11(66), 2014

 

Improving control of quadrotors carrying a manipulator arm

J.U. Álvarez-Muñoz, N. Marchand, F. Guerrero-Castellanos, S. Durand and A.E. Lopez-Luna

XVI Congreso Latinoamericano de Control Automático (CLCA 2014), 2014 

 

Event-Based Control for Embedded and Networked System: Application to a Mini Quadrotor Helicopter using Motion Capture
Durand,Sylvain and Dumon,Jonathan and Marchand,Nicolas and Guerrero castellanos,Fermi

Proceedings of the IEEE ICUAS - 2014 IEEE International Conference on Unmanned Aircraft Systems (ICUAS 2014) US 2014-05-2 

 

RT-MaG: an open-source SIMULINK Toolbox for Real-Time Robotic Applications

A. Manecy, N. Marchand and S. Viollet

Int. Conf. on Robotics and Biomimetics (ROBIO 2014), 2014 

 

Event-triggered nonlinear control for attitude stabilization of a quadrotor

F. Guerrero Castellanos, J.J. Téllez-Guzmán, S. Durand, N. Marchand and J.U. Álvarez-Muñoz

International Conference on Unmanned Aircraft Systems (ICUAS), 2013 

 

Video-based methodology for markerless human motion analysis

Pauline ProviniJulien PansiotLionel ReveretOlivier Martin

International Congress Association des Chercheurs en Activités Physiques et Sportives (ACAPS), Grenoble : France (2013) 


Reverse pumping: theory and experimental validation on a multi-kites system
Lozano,Rogelio jr and Dumon,Jonathan and Hably,Ahmad

17th International Conference on System Theory, Control and Computing Joint Conference RO 2013-10-11 - [Best student paper award] - 

 

Physical modeling of bilabial plosives production
Delebecque,Louis and Pelorson,Xavier and Beautemps,Denis and Laval,Xavier

Proceedings of Meetings on Acoustics - POMA - ICA 2013 Montreal CA 2013-06-02

 

Theoretical and experimental study of glottal geometry in phonation
Pelorson,Xavier and Van hirtum,Annemie and Wu,Bo and Silva,Fabrice

21st International Congress on Acoustics (ICA 2013) - 165th Meeting of the Acoustical Society of America CA

 

Modélisation physique de le production de plosives bilabiales
Delebecque,Louis and Pelorson,Xavier and Beautemps,Denis and Laval,Xavier

8ème édition des Journées Jeunes Chercheurs en Audition, Acoustique musicale, et Signal audio (JJCAAS)FR 2012-12-05

 

Kite Generator System Periodic Motion Planning Via Virtual Constraints

Ahmed,M. and Hably,Ahmad and Bacha,Seddik

Proceedings of IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society (IECON 2013) AT 2013-11-10 

 

Energy production control of an experimental kite system in presence of wind gusts
Lozano,Rogelio jr and Dumon,Jonathan and Hably,Ahmad and Alamir,Mazen

Proceedings of the 2013 IEEE/RSJ - IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013) JP 2013-11-03 

 

Reverse pumping: theory and experimental validation on a multi-kites system
Lozano,Rogelio jr and Dumon,Jonathan and Hably,Ahmad

17th International Conference on System Theory, Control and Computing Joint Conference RO 2013-10-11  - [Best sutdent paper award]  

 

Observer-based control of a tethered wing wind power system : indoor real-time experiment
Hably,Ahmad and Lozano,Rogelio Jr and Alamir,Mazen and Dumon,Jonathan Accepted to ACC 2013 

 

 Control of a wind power system based on a tethered wing
Lozano,Rogelio Jr and Alamir,Mazen and Dumon,Jonathan and Hably,Ahmad

FAC EGNCA, bangalore : India (2012) 

 

High Altitude Wind Power Systems: A Survey on Flexible Power Kites

Ahmed,Mariam and Hably,Ahmad and Bacha,Seddik

XXth International Conference on Electrical Machines (ICEM'2012), Marseille : France (2012)  

 

Power Maximization of a Closed-orbit Kite Generator System

Ahmed,Mariam and Hably,Ahmad and Bacha,Seddik

50th IEEE Conference on Decision and Control and European Control Conference (IEEE CDC-ECC 2011) US  

 

Grid-connected Kite Generator System: Electrical Variables Control with MPPT
Ahmed,Mariam and Hably,Ahmad and Bacha,Seddik

37th Annual Conference of the IEEE Industrial Electronics Society (IECON 2011) AU 

 

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