Farid Kendoul - Academia.edu (original) (raw)

Papers by Farid Kendoul

Research paper thumbnail of Real-Time Nonlinear Embedded Control for an Autonomous Quadrotor Helicopter

Journal of Guidance Control and Dynamics, Jul 1, 2007

Research paper thumbnail of A visual navigation system for autonomous flight of micro air vehicles

2009 Ieee Rsj International Conference on Intelligent Robots and Systems, Oct 1, 2009

... or pre-registered maps of the terrain with measurements obtained by the vehicle in real time ... more ... or pre-registered maps of the terrain with measurements obtained by the vehicle in real time using active sensors (radar, lidar, etc.) or ... Fig. 6. (a) onboard camera image showing visual tracking of a moving target; (b) the quadrotor during vision-based tracking of a moving target. ...

Research paper thumbnail of Automatic Distribution of Disposable Self-Deploying Sensor Modules

Springer Tracts in Advanced Robotics, 2015

Research paper thumbnail of Further results on global stabilization of the PVTOL aircraft

Lecture Notes in Control and Information Sciences, 2006

... {ahmad.hably,nicolas.marchand}@inpg.fr 2 Laboratoire Heudiasyc, Université de Technologie de ... more ... {ahmad.hably,nicolas.marchand}@inpg.fr 2 Laboratoire Heudiasyc, Université de Technologie de Compi`egne, 60200 Compi`egne, France. ... Olfati-Saber in [8] proposed a configuration stabilization for the PVTOL aircraft with a strong input coupling using a smooth static state ...

Research paper thumbnail of Asymptotic stability of hierarchical inner-outer loop-based flight controllers

Research paper thumbnail of Flight control of a small helicopter in unknown wind conditions

49Th Ieee Conference on Decision and Control, 2010

This paper presents a novel application of a two-time scale controller, using a disturbance obser... more This paper presents a novel application of a two-time scale controller, using a disturbance observer, for the hover flight control of a Rotary wing Unmanned Aerial Vehicle (RUAV). Flapping and servo dynamics, important from a practical point of view, are included in the RUAV model. The two-time scale controller takes advantage of the `decoupling' of the translational and rotation dynamics

Research paper thumbnail of Stabilization of the pvtol aircraft using the sum of saturating functions scheme

Research paper thumbnail of A view-based method for local homing of unmanned rotorcraft

2015 6th International Conference on Automation, Robotics and Applications (ICARA), 2015

Research paper thumbnail of Special Issue on Low Altitude Flight of UAVs

Journal of Field Robotics, 2014

Research paper thumbnail of A209 Localization of MAV in GPS-Denied Environment Using Embedded Stereo Camera

Research paper thumbnail of Modélisation et stabilisation avec des entrées bornées d’un petit hélicoptère possédant deux rotors pivotants

Research paper thumbnail of Adaptive vision-based controller for small rotorcraft uavs control and guidance

Research paper thumbnail of Embedded autopilot for accurate waypoint navigation and trajectory tracking: Application to miniature rotorcraft UAVs

2009 IEEE International Conference on Robotics and Automation, 2009

... In this paper, the control design for the four-rotor MAV is addressed by exploiting the struc... more ... In this paper, the control design for the four-rotor MAV is addressed by exploiting the structural properties of ... The asymptotic stability of closed-loop system (8) is proven in Appendix A ... Remark 1: In the real implementation, the control laws (7) have been slightly modified to include ...

Research paper thumbnail of Beyond visual range obstacle avoidance and infrastructure inspection by an autonomous helicopter

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

This paper demonstrates the feasibility of accom- plishing real-world inspection tasks beyond vis... more This paper demonstrates the feasibility of accom- plishing real-world inspection tasks beyond visual range with an autonomous helicopter using simple but effective methods. We propose a LIDAR-based perception and guidance system that enables a helicopter to perform obstacle detection and avoidance, terrain following, and close-range inspection. The system has been implemented on board the CSIRO unmanned helicopter and flight tested

Research paper thumbnail of Three Nested Kalman Filters-Based Algorithm for Real-Time Estimation of Optical Flow, UAV Motion and Obstacles Detection

Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007

We aim at developing a vision-based autopilot for autonomous small aerial vehicle applications. T... more We aim at developing a vision-based autopilot for autonomous small aerial vehicle applications. This paper presents a new approach for the estimation of optical flow, aircraft motion and scene structure (range map), using monocular vision and inertial data. The proposed algorithm is based on 3 nested Kalman filters (3NKF) and results in an efficient and robust estimation process. The 3NKF-based

Research paper thumbnail of Nonlinear control for systems with bounded inputs: Real-time embedded control applied to UAVs

Proceedings of the 45th IEEE Conference on Decision and Control, 2006

Research paper thumbnail of Editorial for the JFR Special Issue on Low Altitude Flight of UAVs

Journal of Field Robotics, 2014

Research paper thumbnail of Optic Flow-Based Vision System for Autonomous 3D Localization and Control of Small Aerial Vehicles

Embedded Control, 2013

... The proposed autopilot is based on an optic flow-based vision system for autonomous localizat... more ... The proposed autopilot is based on an optic flow-based vision system for autonomous localization and scene mapping, and a nonlinear control system for flight control and guidance. ... The vision andcontrol algorithms have been implemented on a quadrotor UAV, and ...

Research paper thumbnail of Visual servoing of an autonomous Micro Air Vehicle for ground object tracking

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

... Syaril Azrad, Farid Kendoul, Dwi Perbrianti and Kenzo Nonami Robotics and Control Lab, Depart... more ... Syaril Azrad, Farid Kendoul, Dwi Perbrianti and Kenzo Nonami Robotics and Control Lab, Department of Electronics and Mechanical Engineering Chiba University, 263 ... The considered world frame has its origin at the object center, with the X-axis pointing to the North and the Y ...

Research paper thumbnail of Asymptotic Stability of Hierarchical Inner-Outer Loop-Based Flight Controllers

Proceedings of the 17th IFAC World Congress, 2008, 2008

Research paper thumbnail of Real-Time Nonlinear Embedded Control for an Autonomous Quadrotor Helicopter

Journal of Guidance Control and Dynamics, Jul 1, 2007

Research paper thumbnail of A visual navigation system for autonomous flight of micro air vehicles

2009 Ieee Rsj International Conference on Intelligent Robots and Systems, Oct 1, 2009

... or pre-registered maps of the terrain with measurements obtained by the vehicle in real time ... more ... or pre-registered maps of the terrain with measurements obtained by the vehicle in real time using active sensors (radar, lidar, etc.) or ... Fig. 6. (a) onboard camera image showing visual tracking of a moving target; (b) the quadrotor during vision-based tracking of a moving target. ...

Research paper thumbnail of Automatic Distribution of Disposable Self-Deploying Sensor Modules

Springer Tracts in Advanced Robotics, 2015

Research paper thumbnail of Further results on global stabilization of the PVTOL aircraft

Lecture Notes in Control and Information Sciences, 2006

... {ahmad.hably,nicolas.marchand}@inpg.fr 2 Laboratoire Heudiasyc, Université de Technologie de ... more ... {ahmad.hably,nicolas.marchand}@inpg.fr 2 Laboratoire Heudiasyc, Université de Technologie de Compi`egne, 60200 Compi`egne, France. ... Olfati-Saber in [8] proposed a configuration stabilization for the PVTOL aircraft with a strong input coupling using a smooth static state ...

Research paper thumbnail of Asymptotic stability of hierarchical inner-outer loop-based flight controllers

Research paper thumbnail of Flight control of a small helicopter in unknown wind conditions

49Th Ieee Conference on Decision and Control, 2010

This paper presents a novel application of a two-time scale controller, using a disturbance obser... more This paper presents a novel application of a two-time scale controller, using a disturbance observer, for the hover flight control of a Rotary wing Unmanned Aerial Vehicle (RUAV). Flapping and servo dynamics, important from a practical point of view, are included in the RUAV model. The two-time scale controller takes advantage of the `decoupling' of the translational and rotation dynamics

Research paper thumbnail of Stabilization of the pvtol aircraft using the sum of saturating functions scheme

Research paper thumbnail of A view-based method for local homing of unmanned rotorcraft

2015 6th International Conference on Automation, Robotics and Applications (ICARA), 2015

Research paper thumbnail of Special Issue on Low Altitude Flight of UAVs

Journal of Field Robotics, 2014

Research paper thumbnail of A209 Localization of MAV in GPS-Denied Environment Using Embedded Stereo Camera

Research paper thumbnail of Modélisation et stabilisation avec des entrées bornées d’un petit hélicoptère possédant deux rotors pivotants

Research paper thumbnail of Adaptive vision-based controller for small rotorcraft uavs control and guidance

Research paper thumbnail of Embedded autopilot for accurate waypoint navigation and trajectory tracking: Application to miniature rotorcraft UAVs

2009 IEEE International Conference on Robotics and Automation, 2009

... In this paper, the control design for the four-rotor MAV is addressed by exploiting the struc... more ... In this paper, the control design for the four-rotor MAV is addressed by exploiting the structural properties of ... The asymptotic stability of closed-loop system (8) is proven in Appendix A ... Remark 1: In the real implementation, the control laws (7) have been slightly modified to include ...

Research paper thumbnail of Beyond visual range obstacle avoidance and infrastructure inspection by an autonomous helicopter

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

This paper demonstrates the feasibility of accom- plishing real-world inspection tasks beyond vis... more This paper demonstrates the feasibility of accom- plishing real-world inspection tasks beyond visual range with an autonomous helicopter using simple but effective methods. We propose a LIDAR-based perception and guidance system that enables a helicopter to perform obstacle detection and avoidance, terrain following, and close-range inspection. The system has been implemented on board the CSIRO unmanned helicopter and flight tested

Research paper thumbnail of Three Nested Kalman Filters-Based Algorithm for Real-Time Estimation of Optical Flow, UAV Motion and Obstacles Detection

Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007

We aim at developing a vision-based autopilot for autonomous small aerial vehicle applications. T... more We aim at developing a vision-based autopilot for autonomous small aerial vehicle applications. This paper presents a new approach for the estimation of optical flow, aircraft motion and scene structure (range map), using monocular vision and inertial data. The proposed algorithm is based on 3 nested Kalman filters (3NKF) and results in an efficient and robust estimation process. The 3NKF-based

Research paper thumbnail of Nonlinear control for systems with bounded inputs: Real-time embedded control applied to UAVs

Proceedings of the 45th IEEE Conference on Decision and Control, 2006

Research paper thumbnail of Editorial for the JFR Special Issue on Low Altitude Flight of UAVs

Journal of Field Robotics, 2014

Research paper thumbnail of Optic Flow-Based Vision System for Autonomous 3D Localization and Control of Small Aerial Vehicles

Embedded Control, 2013

... The proposed autopilot is based on an optic flow-based vision system for autonomous localizat... more ... The proposed autopilot is based on an optic flow-based vision system for autonomous localization and scene mapping, and a nonlinear control system for flight control and guidance. ... The vision andcontrol algorithms have been implemented on a quadrotor UAV, and ...

Research paper thumbnail of Visual servoing of an autonomous Micro Air Vehicle for ground object tracking

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

... Syaril Azrad, Farid Kendoul, Dwi Perbrianti and Kenzo Nonami Robotics and Control Lab, Depart... more ... Syaril Azrad, Farid Kendoul, Dwi Perbrianti and Kenzo Nonami Robotics and Control Lab, Department of Electronics and Mechanical Engineering Chiba University, 263 ... The considered world frame has its origin at the object center, with the X-axis pointing to the North and the Y ...

Research paper thumbnail of Asymptotic Stability of Hierarchical Inner-Outer Loop-Based Flight Controllers

Proceedings of the 17th IFAC World Congress, 2008, 2008