P. Martinet | INRIA - Academia.edu (original) (raw)

Papers by P. Martinet

Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)

ABSTRACT

The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006.

In this paper, the problem of object grasping is considered from both a biological and an enginee... more In this paper, the problem of object grasping is considered from both a biological and an engineering point of view. A model of information processing for the grasp synthesis and execution is described based on recent findings from neuroscience. Taking into account the differences between robotic and biological systems, this paper proposes the adaptation of that model to the peculiarities of a robotic system, instead of mimicking it. For this purpose, an architecture is proposed that allows the scalability of this model and its integration within more complex tasks. The grasp synthesis is designed as integrated within the extraction of a 3D object description, so that the object reconstruction is driven by the needs of the grasp synthesis. The integration is formulated as a framework where different grasp synthesis strategies could be applied.

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)

In this article, a robot formation control strategy based on a vision-based follow-the-leader sce... more In this article, a robot formation control strategy based on a vision-based follow-the-leader scenario is proposed, with emphasize on its reliability. On the one hand, perception is enhanced by the control of a motorized zoom. On the other hand, bidirectional and non-oblivious [1] control is implemented, with an odometry-based fault detection of vision-based information and a leader path-planning strategy to improve its visibility. After introduction of the control strategy, extensive experimental results are presented.

Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics, 2011

This paper aims to present the Multi-Agent System to Control and Coordinate teAmworking Robots (M... more This paper aims to present the Multi-Agent System to Control and Coordinate teAmworking Robots (MAS2CAR), a new architecture to control a group of coordinated autonomous robots in unstructured environments. MAS2CAR covers two main layers: (i) the Control Layer and we focus on (ii) the Coordination Layer. The control module is responsible for a part of the decision making process while taking into account robot's structural constraints. Despite this autonomy possibility, the Coordination Layer manages the robots in order to bring cooperative behavior and to allow teamwork. In this paper we present a scenario validating our approach based upon the multi-agent systems (MAS). Thanks to its reliability we have chosen the M OISE Inst organizational model and we will present how it can be used for this use-case. Moreover, regarding to the implementation part, we have retained U TOPIA, a framework which automatically build a MAS thanks to a M OISE Inst specification.

Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)

Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics, 2006

This paper presents an obstacle avoidance module dedicated to non-holonomic wheeled mobile robots... more This paper presents an obstacle avoidance module dedicated to non-holonomic wheeled mobile robots. Chained system theory and deformable virtual zone principle are coupled to design an original framework based on path following formalism. The proposed strategy allows to correct the control output provided by a navigation module to preserve the robot security while assuring the navigation task. First, local paths and control inputs are derived from the interaction between virtual zones surrounding the robot and obstacles to efficiently prevent from collisions. The resulting control inputs and the ones provided by the navigation module are then adequately merged to ensure the success of the navigation task. Experimental results using a cart-like mobile robot equipped with a sonar sensors belt confirm the relevance of the approach.

IFAC Proceedings Volumes, 1997

We h a ve b e e n i n terested in Automatic Guided Vehicles (AGV) for several years. In this pape... more We h a ve b e e n i n terested in Automatic Guided Vehicles (AGV) for several years. In this paper, we synthesize controllers for AGV applications. Particularly, we are interested in road following and direction change tasks, and in analyzing the in uence of roll and pitch perturbations on vehicle behaviour. We use the bicycle as the kinematic vehicle model, and we c hoose the white band position of the road as the sensor signal. We de ne an interaction between the camera, which i s m o u n ted inside the vehicle, and the white band detected in the image space. Using this kind of interaction, we present h o w to use a pole assignment t e c hnique to solve the servoing task. We s h o w the simulation and experimental results (1/10 scale demonstrator) with and without perturbations.

IFAC Proceedings Volumes, 1998

Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)

HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific re... more HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d'enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.

Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)

A very accurate vehicle guidance is required in numerous agricultural applications, as seeding, s... more A very accurate vehicle guidance is required in numerous agricultural applications, as seeding, spraying, row cropping,. .. Accuracy in vehicle localization can be obtained in realtime from a RTK GPS sensor. Several control laws, relying on this sensor, have been previously designed and provide satisfactory results as long as vehicles do not slide. However, sliding has to occur in agricultural tasks (sloping fields, curves on a wet land,. . .). The challenge addressed in this paper is to preserve vehicle guidance accuracy in such situations. A nonlinear adaptive control law is here designed. Simulation results and field experiments, demonstrating the capabilities of that control scheme, are reported and discussed.

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

2010 IEEE International Conference on Robotics and Automation, 2010

The necessity of decreasing the environmental impact of agricultural activities, while preserving... more The necessity of decreasing the environmental impact of agricultural activities, while preserving in the same time the level of production to satisfy the growing population demand, requires to investigate new production tools. Mobile robotic can constitute a promising solution, since autonomous devices may permit to increase production level, while reducing pollution thanks to a high accuracy. In this paper, the use of several mobile robots for field treatment is investigated. It is here considered that they can exchange data through wireless communication, and a formation control law, accurate despite typical off-road conditions (low grip, terrain irregularities, etc), is designed relying on nonlinear observer-based adaptive control. The algorithm proposed in this paper is tested through advanced simulations in order to study separately its capabilities, as well as experimentally validated.

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006

This paper is related to the vision-based control of parallel robots. Indeed, a method is propose... more This paper is related to the vision-based control of parallel robots. Indeed, a method is proposed to estimate the reduced set of kinematic parameters appearing in such a control. To do so, it extends a linear method, obtained for a perspective camera, to the case of an omnidirectional camera, using an existing unifying projection model. The proposed method remains linear, once adequate information is extracted from the omnidirectional images, and does not require any calibration pattern. It works both with perspective and omnidirectional cameras, which is underlined by the reported experiments.

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Automated electric vehicles for public use constitute a promising very efficient and environment-... more Automated electric vehicles for public use constitute a promising very efficient and environment-friendly "urban transportation system". An additional functionality that could enhance this transportation service is vehicle platooning. In order to avoid inter-distance oscillations within the platoon, a global control strategy, supported by inter-vehicle communications, is investigated. Vehicle localization in an absolute frame is needed and is derived here from monocular vision. The vision data is however expressed in a virtual world, slightly distorted with respect to the actual metric one. It is shown that such a distortion can accurately be corrected by designing a nonlinear observer that relies on odometric data. A global decentralized control strategy, relying on nonlinear control techniques, can then be designed to achieve accurate vehicle platooning. Simulations and full-scale experiments demonstrate the performance of the proposed approach.

Various "Urban Transportation Systems" are currently in developing, in order to put forward solut... more Various "Urban Transportation Systems" are currently in developing, in order to put forward solutions to congestion and pollution in dense areas. Autonomous electric vehicles in free-access can be seen as an attractive approach, in view of the large flexibility that can be expected. One instrumental functionality linked to this solution is platoon motion: several autonomous vehicles accurately follow a trajectory defined on a dedicated circulation lane, with pre-specified inter-distances. A global decentralized platoon control strategy, supported by inter-vehicle communications and relying on nonlinear control techniques is here proposed. In the nominal case, each vehicle is controlled with respect to the same smooth reference trajectory modelled by cubic B-Splines. This trajectory is locally modified and relayed on-line when a vehicle detects an obstacle. The trajectory distortion naturally reflects a driver's behaviour, since it consists in approximated clothoidal trajectories and the use of B-Splines ensures consistent connections. Experimental results, carried out with several urban vehicles, demonstrate the capabilities of the proposed approach.

Vision has often been considered as not suitable for dynamic control of robots. The experimental ... more Vision has often been considered as not suitable for dynamic control of robots. The experimental results presented in this paper show that it is possible to perform better with a vision based dynamic control than with a modelbased control. These results were obtained using a Cartesian computed torque control fed back, without any joint sensing, by a novel Cartesian pose and velocity estimator. The latter is designed as a virtual visual servoing scheme based on sequential acquisition of sub-images and a constant acceleration motion assumption.

This paper addresses the problem of path generation and motion control for the autonomous maneuve... more This paper addresses the problem of path generation and motion control for the autonomous maneuver of a farm vehicle with a trailed implement in headland. A reverse turn planner is firstly investigated, based on primitives connected together to easily generate the reference motion. Then, both steering and speed control algorithms are presented to accurately guide the vehicle-trailer system. They are based on a kinematic model extended with additional sliding parameters and on model predictive control approaches. Real world experiments have been carried out on a low friction terrain with an experimental mobile robot pulling a trailer. At the end of each row, the reverse turn is automatically generated to connect the next reference track, and the maneuver is autonomously performed by the vehicle-trailer system. Reported experiments demonstrate the capabilities of the proposed algorithms.

In this paper, an approach is presented to automatically allocate a set of exploration tasks betw... more In this paper, an approach is presented to automatically allocate a set of exploration tasks between a fleet of mobile robots. The approach combines a Road-Map technique and Markovian Decision Processes (MDPs). The addressed problem consists of exploring an area where a set of points of interest characterizes the main positions to be visited by the robots. This problem induces a long term horizon motion planning with a combinatorial explosion. The Road-Map allows the robots to represent their spatial knowledge as a graph of way-points connected by paths. It can be modified during the exploration mission requiring the robots to use on-line computations. By decomposing the Road-Map into regions, an MDP allows the current group leader to evaluate the interest of each robot in every single region. Using those values, the leader can assign the exploration tasks to the robots.

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

Image-based servoing is a local control solution, it requires thus the definition of intermediate... more Image-based servoing is a local control solution, it requires thus the definition of intermediate subgoals in the sensor space when the robot initial position is far away from the desired one. This issue is crucial when using omnidirectional cameras since very large motions can be achieved. This paper addresses the problem of generating smooth trajectories in the image space of the entire class of central cameras (including conventional perspective cameras). The model of the observed target is assumed to be unknown. First geometrical relationships between imaged points and lines in two views are exploited to estimate a generic homography matrix. A closedform homography path between given start and end-points is then derived and used to generate the trajectories of image features. Results obtained with real data are finally presented.

Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)

ABSTRACT

The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006.

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)

Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics, 2011

Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)

Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics, 2006

IFAC Proceedings Volumes, 1997

IFAC Proceedings Volumes, 1998

Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)

Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

2010 IEEE International Conference on Robotics and Automation, 2010

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

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

et mots clés Dans cet article, nous présentons une stratégie de commande de systèmes robotiques e... more et mots clés Dans cet article, nous présentons une stratégie de commande de systèmes robotiques en utilisant comme entrées d'une boucle d'asservissement visuel des primitives relatives à la projection de droites dans le plan image d'une caméra panoramique à point central unique. Afin de réaliser la commande d'un système robotique par asservissement visuel, il est nécessaire d'estimer la matrice d'interaction liant les mouvements de la caméra aux mouvements des primitives visuelles dans l'image. Dans cet article, nous dérivons la forme analytique de la matrice d'interaction générique relative à la projection de droites à partir d'un modèle de projection englobant la classe entière des caméras à point central unique. Elle est ensuite utilisée dans un schéma d'asservissement visuel. Des simulations ainsi que des résultats expérimentaux sur un robot mobile valident l'approche proposée. Vision omnidirectionnelle, point central unique, asservissement visuel, droites. Abstract and key words In this paper we consider the problem of controlling a robotic system by using the projection of 3D straight lines in the image plane of central catadioptric systems. Most of the effort in visual servoing are devoted to points, only few works have investigated the use of lines in visual servoing with traditional cameras and none has explored the case of omnidirectional cameras. First a generic central catadioptric interaction matrix for the projection of 3D straight lines is derived from the projection model of an entire class of camera. Then an image-based control law is designed and validated through simulation results and real experiments with a mobile robot. Omnidirectional camera, single view point, visual servoing, straight lines. Remerciements Ces travaux ont été financés en partie par le projet OMNIBOT de ROBEA : « Robotique mobile et Entités Artificielles ». Nous remercions particulièrement Éric Marchand de l'IRISA/INRIA à Rennes pour nous avoir fourni l'algorithme de suivi de cercle dans les images omnidirectionnelles.

—In this paper, a novel approach is proposed for the kinematic calibration of parallel mechanisms... more —In this paper, a novel approach is proposed for the kinematic calibration of parallel mechanisms with linear actua-tors at the base. The originality of the approach lies in the observation of the mechanism legs with a camera, without any mechanism modification. The calibration can hence be achieved online, as no calibration device is linked to the end-effector, on any mechanism since no additional proprioceptive sensor installation is necessary. Because of the conditions of leg observability, several camera locations may be needed during the experimentation. The associated calibration method does not however require any accurate knowledge of the successive camera positions. The experimental procedure is therefore easy to perform. The method is developed theoretically in the context of mechanisms with legs linearly actuated at the base, giving the necessary conditions of identifiability. Application to an I4 mechanism is achieved with experimental results.

In this paper, we provide a comprehensive method to perform the physical model identification of ... more In this paper, we provide a comprehensive method to perform the physical model identification of parallel mechanisms. This includes both the kinematic identification using vision and the identification of the dynamic parameters. A careful attention is given to the issues of identifiability and excitation. Experimental results obtained on a H4 parallel robot show that kinematic identification yields an improvement in the static positioning accuracy from some 1 cm down to 1 mm, and that dynamic parameters are globally estimated with less than 10% relative error yielding a similar error on the control torque estimation.

In this article, we present the kinematic calibration of a H4 parallel robot using a vision-based... more In this article, we present the kinematic calibration of a H4 parallel robot using a vision-based measuring device. Calibration is performed according to the inverse kinematic model method, using first the design model then a model developed for calibration purpose. To do so, the end-effector pose has to be measured with the utterst accuracy. Thus, we first evaluate the practical accuracy of our vision-based measuring system to have a precision in the order of magnitude of 10µm and 10 −3 deg. Second, we calibrate the robot using our vision system, yielding a final positioning accuracy of the end-effector lower than 0.5mm.

The Robot Programming Network (RPN) is an initiative for creating a network of robotics education... more The Robot Programming Network (RPN) is
an initiative for creating a network of robotics education
laboratories with remote programming capabilities.
It consists of both online open course materials
and online servers that are ready to execute and test the
programs written by remote students. Online materials
include introductory course modules on robot programming,
mobile robotics and humanoids, aimed to
learn from basic concepts in science, technology, engineering,
and mathematics (STEM) to more advanced
programming skills. The students have access to the
online server hosts, where they submit and run their
programming code on the fly. The hosts run a variety
of robot simulation environments, and access
to real robots can also be granted, upon successful
achievement of the course modules. The learning
materials provide step-by-step guidance for solving
problems with increasing level of difficulty. Skill
tests and challenges are given for checking the success,
and online competitions are scheduled for additional
motivation and fun. Use of standard robotics middleware (ROS) allows the system to be extended
to a large number of robot platforms, and connected
to other existing tele-laboratories for building
a large social network for online teaching of
robotics.

High-precision autofarming is rapidly becoming a reality with the requirements of agricultural ap... more High-precision autofarming is rapidly becoming a reality with the requirements of agricultural applications. Lots of research works have been focused on the automatic guidance control of farm vehicles, satisfactory results have been reported under the assumption that vehicles move without sliding. Realistic paths that farm vehicles can track successfully include not only rows but also arcs and curves. But unfortunately the pure rolling constraints are not always satisfied especially in agriculture applications where the working conditions are rough and not expectable. A possible solution would be to close the feedback loop using exteroceptive sensor measurements. Thanks to GPS and attitude sensors, vehicle positions and velocities can be obtained by absolute coordinates measurements regardless of sliding. Hence the aim of this work is to design anti-sliding controllers for all-terrain autonomous farm vehicles relying on GPS measurements.