David Saussié
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View article: Decentralized state estimation: An approach using pseudomeasurements and preintegration
Decentralized state estimation: An approach using pseudomeasurements and preintegration Open
This paper addresses the problem of decentralized, collaborative state estimation in robotic teams. In particular, this paper considers problems where individual robots estimate similar physical quantities, such as each other’s position re…
View article: Decentralized State Estimation: An Approach using Pseudomeasurements and Preintegration
Decentralized State Estimation: An Approach using Pseudomeasurements and Preintegration Open
This paper addresses the problem of decentralized, collaborative state estimation in robotic teams. In particular, this paper considers problems where individual robots estimate similar physical quantities, such as each other's position re…
View article: Optimal Multi-robot Formations for Relative Pose Estimation Using Range Measurements
Optimal Multi-robot Formations for Relative Pose Estimation Using Range Measurements Open
In multi-robot missions, relative position and attitude information between agents is valuable for a variety of tasks such as mapping, planning, and formation control. In this paper, the problem of estimating relative poses from a set of i…
View article: Localization with Directional Coordinates
Localization with Directional Coordinates Open
A coordinate system is proposed that replaces the usual three-dimensional Cartesian x,y,z position coordinates, for use in robotic localization applications. Range, azimuth, and elevation measurement models become greatly simplified, and, …
View article: Universal Adaptive Fault-Tolerant Control of a Multicopter UAV
Universal Adaptive Fault-Tolerant Control of a Multicopter UAV Open
This paper presents a universal adaptive fault-tolerant control (FTC) design for multicopter unmanned aerial vehicles (UAVs). The proposed architecture consists of a two-loop control structure: a fault-tolerant controller generates normali…
View article: Autonomous Landing of a Multirotor Micro Air Vehicle on a High Velocity Ground Vehicle
Autonomous Landing of a Multirotor Micro Air Vehicle on a High Velocity Ground Vehicle Open
While autonomous multirotor micro aerial vehicles (MAVs) are uniquely well suited for certain types of missions benefiting from stationary flight capabilities, their more widespread usage still faces many hurdles, due in particular to thei…
View article: Robust Self-Scheduled Fault-Tolerant Control of a Quadrotor UAV
Robust Self-Scheduled Fault-Tolerant Control of a Quadrotor UAV Open
This paper deals with active fault-tolerant control (FTC) of a quadrotor in the presence of actuator faults. In previous studies, authors generally assume that the fault has been detected, isolated or identified and then proceed with a rec…
View article: Robust Control of a Tandem Helicopter with Variable Payload
Robust Control of a Tandem Helicopter with Variable Payload Open
The present work aims at showing that structured H∞ synthesis can tune a unique controller for a tandem helicopter with different payload configurations. First, the rotorcraft dynamics is modeled, including the variable payload and its imp…
View article: Autonomous Landing of a Multirotor Micro Air Vehicle on a High Velocity Ground Vehicle
Autonomous Landing of a Multirotor Micro Air Vehicle on a High Velocity Ground Vehicle Open
While autonomous multirotor micro aerial vehicles (MAVs) are uniquely well suited for certain types of missions benefiting from stationary flight capabilities, their more widespread usage still faces many hurdles, due in particular to thei…
View article: An enhanced velocity-based algorithm for safe implementations of gain-scheduled controllers
An enhanced velocity-based algorithm for safe implementations of gain-scheduled controllers Open
This paper presents an enhanced velocity-based algorithm to implement gain-scheduled controllers for nonlinear and parameter-dependent systems. A new scheme including pre- and post-filtering is proposed with the assumption that the time-de…
View article: How to solve ODEs in real-time HLA distributed simulation
How to solve ODEs in real-time HLA distributed simulation Open
International audience
View article: Hidden Coupling Terms Inclusion in Gain-Scheduling Control Design: Extension of an Eigenstructure Assignment-Based Technique**This work was supported by NSERC under Grant RGPIN-2014-03942 and RGPIN-312116-13.
Hidden Coupling Terms Inclusion in Gain-Scheduling Control Design: Extension of an Eigenstructure Assignment-Based Technique**This work was supported by NSERC under Grant RGPIN-2014-03942 and RGPIN-312116-13. Open
This paper tackles the gain-scheduling control design issue when endogenous signals are selected as scheduling parameters. In this case, the gain-scheduled controller exhibits nonlinear dynamics, leading to the occurrence of hidden couplin…
View article: An enhanced velocity-based algorithm for safe implementations of gain-scheduled controllers
An enhanced velocity-based algorithm for safe implementations of gain-scheduled controllers Open
This paper presents an enhanced velocity-based algorithm to implement gain-scheduled controllers for nonlinear and parameter-dependent systems. A new scheme including pre- and post-filtering is proposed with the assumption that the time-de…
View article: Robustness Assessment of a Load Factor Flight Control Law Using Dilation Integrals**This work was supported by NSERC under Grant RGPIN-2014-03942 and RGPIN-2012-122106.
Robustness Assessment of a Load Factor Flight Control Law Using Dilation Integrals**This work was supported by NSERC under Grant RGPIN-2014-03942 and RGPIN-2012-122106. Open
This article presents a robust performance assessment approach of a load factor flight control law with the goal of ascertaining whether the closed-loop system's poles all lie within a given subregion of the open left half-plane despite ce…