L. Lapierre
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View article: Natural efficient gaits from Nonholonomic Locomotion Nonlinear Normal Mode (NL-NNM): The Pendrivencar case
Natural efficient gaits from Nonholonomic Locomotion Nonlinear Normal Mode (NL-NNM): The Pendrivencar case Open
International audience
View article: A 4 foils hydrofoiler regulation solution and experiments
A 4 foils hydrofoiler regulation solution and experiments Open
International audience
View article: Experimental Validation of a Model-Free Controller on a One-Axis Float with Ballast
Experimental Validation of a Model-Free Controller on a One-Axis Float with Ballast Open
International audience
View article: New Formulation and Experimental Validation of the Kinematic Guidance Principle on an Underactuated Uncrewed Surface Vessel
New Formulation and Experimental Validation of the Kinematic Guidance Principle on an Underactuated Uncrewed Surface Vessel Open
International audience
View article: Performance Guarantee for Autonomous Robotic Missions using Resource Management: The PANORAMA Approach
Performance Guarantee for Autonomous Robotic Missions using Resource Management: The PANORAMA Approach Open
This paper proposes the PANORAMA approach, which is designed to dynamically and autonomously manage the allocation of a robot’s hardware and software resources during fully autonomous mission. This behavioral autonomy approach guarantees t…
View article: Energy-Efficient Configuration and Control Allocation for a Dynamically Reconfigurable Underwater Robot
Energy-Efficient Configuration and Control Allocation for a Dynamically Reconfigurable Underwater Robot Open
A dynamically reconfigurable underwater robot, which can vary its configuration during a mission, would be useful for confined environment exploration and docking because of its versatility. A mission can be performed by choosing among dif…
View article: Solute transport experiments and modelling in terminal conduit of karst hydrosystems, Southern France
Solute transport experiments and modelling in terminal conduit of karst hydrosystems, Southern France Open
In the community working on karst hydrosystems, the needs for subsurface solute and contaminant transport characterization is widely acknowledge.  In former studies, several researchers addressed these needs with different approaches …
View article: On-manifold probabilistic Iterative Closest Point: Application to underwater karst exploration
On-manifold probabilistic Iterative Closest Point: Application to underwater karst exploration Open
This paper proposes MpIC, an on-manifold derivation of the probabilistic Iterative Correspondence (pIC) algorithm, which is a stochastic version of the original Iterative Closest Point. It is developed in the context of autonomous underwat…
View article: A Dynamically Reconfigurable Autonomous Underwater Robot for Karst Exploration: Design and Experiment
A Dynamically Reconfigurable Autonomous Underwater Robot for Karst Exploration: Design and Experiment Open
This paper presents the design and experiment of an autonomous underwater robot which can change the geometric configuration of its actuators, according to mission requirements or environmental constraints. The robot consists of two subsys…
View article: Influence of karst conduits morphology on tracer tests breakthrough curves (Fontaine de Nîmes, France)
Influence of karst conduits morphology on tracer tests breakthrough curves (Fontaine de Nîmes, France) Open
International audience
View article: Over-Actuated Underwater Robots: Configuration Matrix Design and Perspectives
Over-Actuated Underwater Robots: Configuration Matrix Design and Perspectives Open
In general, for the configuration designs of underwater robots, the positions and directions of actuators (i.e., thrusters) are given and installed in conventional ways (known points, vertically, horizontally). This yields limitations for …
View article: Underwater robots provide similar fish biodiversity assessments as divers on coral reefs
Underwater robots provide similar fish biodiversity assessments as divers on coral reefs Open
Coral reefs are under increasing threat, and the loss of reef‐associated fishes providing valuable ecosystem services is accelerating. The monitoring of such rapid changes has become a challenge for ecologists and ecosystems managers using…
View article: Short-Range Submarine Radio System for Localization of Remotely Operated Underwater Vehicles and Cave Divers in Fresh Water
Short-Range Submarine Radio System for Localization of Remotely Operated Underwater Vehicles and Cave Divers in Fresh Water Open
This article presents the study of a new RF device operating in the high-frequency band for underwater localization of scuba divers and the development of exploration robots in karstic environments.The system, composed of a conductive brea…
View article: Elevation Angle Estimations of Wide-Beam Acoustic Sonar Measurements for Autonomous Underwater Karst Exploration
Elevation Angle Estimations of Wide-Beam Acoustic Sonar Measurements for Autonomous Underwater Karst Exploration Open
This paper proposes a solution for merging the measurements from two perpendicular profiling sonars with different beam-widths, in the context of underwater karst (cave) exploration and mapping. This work is a key step towards the developm…
View article: Estimation of particle size in turbid water using ultrasonic attenuation - Application for immersed cave exploration
Estimation of particle size in turbid water using ultrasonic attenuation - Application for immersed cave exploration Open
In this work, we have investigated the estimation of particles size, to prove the feasibility of a simplified acoustic system for continuous characterization of turbid water during underwater cave exploration with autonomous vehicles.
Bec…
View article: An Approach for Fault Tolerant and Performance Guarantee Autonomous Robotic Mission
An Approach for Fault Tolerant and Performance Guarantee Autonomous Robotic Mission Open
International audience
View article: Configuration Matrix Design of Over-Actuated Marine Systems
Configuration Matrix Design of Over-Actuated Marine Systems Open
This paper presents the properties and design procedure of the configuration matrix of over-actuated marine systems. Performance indices introduced in manipulator robots are extended in over-actuated marine vehicles. Moreover, two novel in…
View article: Robust Magnetic Tracking of Subsea Cable by AUV in the Presence of Sensor Noise and Ocean Currents
Robust Magnetic Tracking of Subsea Cable by AUV in the Presence of Sensor Noise and Ocean Currents Open
To inspect subsea cables, an autonomous underwater vehicle (AUV) with two triaxial magnetometers is usually assigned to track the cable route. In this paper, a novel two-layer framework synthesizing antinoise cable localization and robust …
View article: Robotic mapping of a karst aquifer
Robotic mapping of a karst aquifer Open
International audience
View article: Quaternion based control for robotic observation of marine diversity
Quaternion based control for robotic observation of marine diversity Open
Marine biodiversity is increasingly affected by human activities such as climate change, habitat destruction and fishing. In this context a key challenge for marine biologists is to be able to monitor biodiversity at large scale and high t…
View article: Hardware Implementation and Validation of 3D Underwater Shape Reconstruction Algorithm Using a Stereo-Catadioptric System
Hardware Implementation and Validation of 3D Underwater Shape Reconstruction Algorithm Using a Stereo-Catadioptric System Open
In this paper, we present a new stereo vision-based system and its efficient hardware implementation for real-time underwater environments exploration throughout 3D sparse reconstruction based on a number of feature points. The proposed un…