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Olivier KERMORGANT

ENSEIGNANT-CHERCHEUR

Maître de conférences

: Olivier.Kermorgantatls2n.fr

Page pro : http://pagesperso.ls2n.fr/~kermorgant-o/

Adresse :

Centrale Nantes ( CN )
Petit Port
1, rue de la Noë
BP 92101
44321 NANTES Cedex 3

Batiment S, étage 4, bureau 416


Publications référencées sur HAL

Revues internationales avec comité de lecture (ART_INT)

    • [1] A. Colotti, J. García Fontán, A. Goldsztejn, S. Briot, F. Chaumette, O. Kermorgant, M. Safey El Din. Determination of All Stable and Unstable Equilibria for Image-Point-Based Visual Servoing. In IEEE Transactions on Robotics ; éd. IEEE, 2024, vol. 40.
      https://hal.science/hal-04628273v1
    • [2] D. Pérez-Morales, O. Kermorgant, S. Domínguez-Quijada, P. Martinet. Multi-Sensor-Based Predictive Control For Autonomous Parking. In IEEE Transactions on Robotics ; éd. IEEE, 2022, vol. 38, num. 2.
      https://inria.hal.science/hal-03286432v1
    • [3] B. Pascual-Escudero, A. Nayak, S. Briot, O. Kermorgant, P. Martinet, M. Safey El Din, F. Chaumette. Complete Singularity Analysis for the Perspective-Four-Point Problem. In International Journal of Computer Vision ; éd. Springer Verlag, 2021, vol. 129, num. 4.
      https://hal.science/hal-03070525v1
    • [4] D. Koung, O. Kermorgant, I. Fantoni, L. Belouaer. Cooperative multi-robot object transportation system based on hierarchical quadratic programming. In IEEE Robotics and Automation Letters ; éd. IEEE, 2021, vol. 6, num. 4.
      https://hal.science/hal-03289793v1
    • [5] A. Khalifa, O. Kermorgant, S. Dominguez, P. Martinet. Platooning of Car-like Vehicles in Urban Environments: An Observer-based Approach Considering Actuator Dynamics and Time delays. In IEEE Transactions on Intelligent Transportation Systems ; éd. IEEE, 2020, vol. 22, num. 9.
      https://hal.science/hal-02545680v1
    • [6] F. Fusco, O. Kermorgant, P. Martinet. Integrating Features Acceleration in Visual Predictive Control. In IEEE Robotics and Automation Letters ; éd. IEEE, 2020.
      https://hal.science/hal-02877155v1
    • [7] A. Khalifa, O. Kermorgant, S. Dominguez, P. Martinet. Platooning of Car-like Vehicles in Urban Environments: Longitudinal Control Considering Actuator Dynamics, Time Delays, and Limited Communication Capabilities. In IEEE Transactions on Control Systems Technology ; éd. Institute of Electrical and Electronics Engineers, 2020.
      https://inria.hal.science/hal-03081731v1
    • [8] O. Kermorgant. A magnetic climbing robot to perform autonomous welding in the shipbuilding industry. In Robotics and Computer-Integrated Manufacturing ; éd. Elsevier, 2018, vol. 53.
      https://hal.science/hal-01767609v1
    • [9] O. Kermorgant, F. Chaumette. Dealing with constraints in sensor-based robot control. In IEEE Transactions on Robotics ; éd. IEEE, 2014, vol. 30, num. 1.
      https://inria.hal.science/hal-00855724v1

Conférences internationales avec comité de lecture et actes (COMM_INT)

    • [10] G. Juin-Gauthier, A. Babarit, B. Elie, O. Kermorgant, V. Frémont. Waves filtering in heading controllers: impact on the power production of an energy ship. In IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles, septembre 2024, Blacksburg, Virginia, états-Unis.
      https://hal.science/hal-04595833v1
    • [11] A. Gotelli, F. Zaccaria, O. Kermorgant, S. Briot. A Gazebo Simulator for Continuum Parallel Robots. In 18th International Symposium on Advances in Robot Kinematics (ARK 2022), juin 2022, Bilbao, Espagne.
      https://hal.science/hal-03594927v1
    • [12] F. Fusco, G. Allibert, O. Kermorgant, P. Martinet. Benchmarking Nonlinear Model Predictive Control with Input Parameterizations. In International Conference on Methods and Models in Automation and Robotics, août 2022, Miedzyzdroje, Pologne.
      https://hal.science/hal-03701390v2
    • [13] B. Elie, O. Kermorgant, A. Babarit, V. Fremont, J. Giovanni. Experimental validation of a dynamic model of energy ships. In 25e Congrès Français de Mécanique, Nantes, août 2022, Nantes, France.
      https://hal.science/hal-04280190v1
    • [14] H. Bin Anuar, F. Plestan, A. Chriette, O. Kermorgant. Super-Twisting Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator. In 16th International Workshop on Variable Structure Systems, septembre 2022, Rio de Janeiro, Brésil.
      https://hal.science/hal-03749293v1
    • [15] F. Fusco, G. Allibert, O. Kermorgant, P. Martinet. Investigating the Performances of Control Parameterizations for Nonlinear Model Predictive Control. In 17th International Conference on Control, Automation, Robotics and Vision, décembre 2022, Singapore, Singapour.
      https://hal.science/hal-03812458v1
    • [16] H. Anuar, F. Plestan, A. Chriette, O. Kermorgant. Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator. In International Conference on Advanced Robotics, décembre 2021, Ljubljana, Slovénie.
      https://hal.science/hal-03445938v1
    • [17] F. Fusco, O. Kermorgant, P. Martinet. Integrating Features Acceleration in Visual Predictive Control. In IROS 2020 - IEEE/RSJ International Conference on Intelligent Robots and Systems, octobre 2020, Las Vegas / Virtual, états-Unis.
      https://hal.science/hal-02909462v1
    • [18] D. Koung, I. Fantoni, O. Kermorgant, L. Belouaer. Consensus-based formation control and obstacle avoidance for nonholonomic multi-robot system. In International Conference on Control, Automation, Robotics and Vision (ICARCV), décembre 2020, Shenzhen, Chine.
      https://hal.science/hal-02933732v1
    • [19] D. Pérez-Morales, O. Kermorgant, S. Domínguez-Quijada, P. Martinet. Multi-Sensor-Based Predictive Control for Autonomous Parking in Presence of Pedestrians. In ICARCV 2020 - 16th International Conference on Control, Automation, Robotics and Vision, décembre 2020, Shenzhen, Chine.
      https://hal.science/hal-02933694v1
    • [20] A. Khalifa, O. Kermorgant, S. Dominguez, P. Martinet. Vehicles Platooning in Urban Environments: Integrated Consensus-based Longitudinal Control with Gap Closure Maneuvering and Collision Avoidance Capabilities. In ECC19 - European Control Conference, juin 2019, Naples, Italie.
      https://hal.science/hal-02057396v1
    • [21] F. Fusco, O. Kermorgant, P. Martinet. A Comparison of Visual Servoing from Features Velocity and Acceleration Interaction Models. In IROS 2019 - IEEE/RSJ International Conference on Intelligent Robots and Systems, octobre 2019, Macau, Chine.
      https://hal.science/hal-02183760v1
    • [22] A. Khalifa, O. Kermorgant, S. Dominguez, P. Martinet. An Observer-based Longitudinal Control of Car-like Vehicles Platoon Navigating in an Urban Environment. In CDC 2019 - 58th IEEE Conference on Decision and Control, décembre 2019, Nice, France.
      https://hal.science/hal-02273504v1
    • [23] D. Pérez-Morales, O. Kermorgant, S. Domínguez-Quijada, P. Martinet. Laser-Based Control Law For Autonomous Parallel And Perpendicular Parking. In International Conference on Robotic Computing, janvier 2018, Laguna Hills, états-Unis.
      https://inria.hal.science/hal-01689875v1
    • [24] L. Contreras-Samamé, O. Kermorgant, P. Martinet. Efficient Decentralized Collaborative Mapping for Outdoor Environments. In International Conference on Robotic Computing, janvier 2018, Laguna Hills, états-Unis.
      https://inria.hal.science/hal-01689868v1
    • [25] F. Fusco, O. Kermorgant, P. Martinet. Improving Relaxation-based Constrained Path Planning via Quadratic Programming. In International Conference on Intelligent Autonomous Systems, juin 2018, Baden-Baden, Allemagne.
      https://hal.science/hal-01790061v1
    • [26] D. Pérez-Morales, S. Dominguez-Quijada, O. Kermorgant, P. Martinet. Multi-Sensor-Based Predictive Control for Autonomous Backward Perpendicular and Diagonal Parking. In 10th workshop on Planning, Perception and Navigation for Intelligent Vehicles at Int. Conf. on Intelligent Robots and Systems, octobre 2018, Madrid, Espagne.
      https://hal.science/hal-01867303v1
    • [27] F. Fusco, O. Kermorgant, P. Martinet. Constrained Path Planning using Quadratic Programming. In IROS 2018 - IEEE/RSJ International Conference on Intelligent Robots and Systems, octobre 2018, Madrid, Espagne.
      https://hal.science/hal-01867331v1
    • [28] L. Contreras-Samamé, S. Dominguez-Quijada, O. Kermorgant, P. Martinet. CoMapping: Efficient 3D-Map Sharing Methodology for Decentralized cases. In 10th workshop on Planning, Perception and Navigation for Intelligent Vehicles at Int. Conf. on Intelligent Robots and Systems, octobre 2018, Madrid, Espagne.
      https://hal.science/hal-01867720v1
    • [29] A. Khalifa, O. Kermorgant, S. Dominguez, P. Martinet. Vehicles Platooning in Urban Environment: Consensus-based Longitudinal Control with Limited Communications Capabilities. In International Conference on Control, Automation, Robotics and Vision, novembre 2018, Singapore, Singapour.
      https://hal.science/hal-01866884v1
    • [30] D. Pérez-Morales, O. Kermorgant, S. Dominguez-Quijada, P. Martinet. Automatic Perpendicular and Diagonal Unparking Using a Multi-Sensor-Based Control Approach. In ICARCV 2018 - The 15 th International Conference on Control, Automation, Robotics and Vision, novembre 2018, Singapore, Singapour.
      https://hal.science/hal-01874140v1
    • [31] L. Contreras-Samamé, S. Dominguez-Quijada, O. Kermorgant, P. Martinet. CoMapping: Multi-robot Sharing and Generation of 3D-Maps applied to rural and urban scenarios. In International Conference on Control, Automation, Robotics and Vision, novembre 2018, Singapore, Singapour.
      https://hal.science/hal-01867743v1
    • [32] L. Génevé, Ã. Laroche, O. Kermorgant. Limits of Trilateration-Based Sensor Placement Algorithms. In Sensors Applications Symposium (SAS), mars 2017, Glassboro, états-Unis.
      https://inria.hal.science/hal-01689857v1
    • [33] L. Génevé, A. Habed, E. Laroche, O. Kermorgant. Robust Range-Only Mapping via Sum-of-Squares Polynomials. In IFAC 2017 World Congress, juillet 2017, Toulouse, France.
      https://inria.hal.science/hal-01689833v1
    • [34] D. Pérez-Morales, O. Kermorgant, S. Domínguez-Quijada, P. Martinet. Autonomous Perpendicular And Parallel Parking Using Multi-Sensor Based Control. In 9th Workshop on Planning, Perception and Navigation for Intelligent Vehicles at IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, septembre 2017, Vancouver, Canada.
      https://inria.hal.science/hal-01689850v1
    • [35] D. Pérez-Morales, S. Domínguez-Quijada, O. Kermorgant, P. Martinet. Autonomous parking using a sensor based approach. In 8th Workshop on Planning, Perception and Navigation for Intelligent Vehicles at IEEE Int. Conf. on Intelligent Transportation Systems, novembre 2016, Rio de Janeiro, Brésil.
      https://inria.hal.science/hal-01396998v1
    • [36] P. Martinet, G. Garcia, S. Dominguez-Quijada, O. Kermorgant. Keynote on Sensor based navigation. In 8th Workshop on Planning, Perception and Navigation for Intelligent Vehicles A bridge between Robotics and ITS technologies, novembre 2016, Rio de Janeiro, Brésil.
      https://inria.hal.science/hal-02459137v1
    • [37] L. Génevé, O. Kermorgant, E. Laroche. A Composite Beacon Initialization for EKF Range-Only SLAM. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, septembre 2015, Hamburg, Allemagne.
      https://inria.hal.science/hal-01219746v1
    • [38] O. Kermorgant. A dynamic simulator for underwater vehicle-manipulators. In International Conference on Simulation, Modeling, and Programming for Autonomous Robots Simpar, octobre 2014, Bergamo, Italie.
      https://inria.hal.science/hal-01065812v2
    • [39] O. Kermorgant, Y. Petillot, M. Dunnigan. A global control scheme for free-floating vehicle-manipulators. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'13, novembre 2013, Tokyo, Japon.
      https://inria.hal.science/hal-00857692v2
    • [40] O. Kermorgant. Partial visibility constraint in 3D visual servoing. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'13, novembre 2013, Tokyo, Japon.
      https://inria.hal.science/hal-00857690v2
    • [41] T. Li, O. Kermorgant, A. Krupa. Maintaining visibility constraints during tele-echography with ultrasound visual servoing. In IEEE Int. Conf. on Robotics and Automation, mai 2012, Saint Paul, états-Unis.
      https://inria.hal.science/hal-00748987v2
    • [42] O. Kermorgant, F. Chaumette. Avoiding joint limits with a low-level fusion scheme. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'11, 2011, San Francisco, USA, états-Unis.
      https://inria.hal.science/hal-00639684v1
    • [43] O. Kermorgant, F. Chaumette. Combining IBVS and PBVS to ensure the visibility constraint. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'11, 2011, San Francisco, USA, états-Unis.
      https://inria.hal.science/hal-00639683v1
    • [44] O. Kermorgant, F. Chaumette. Multi-sensor data fusion in sensor-based control: application to multi-camera visual servoing. In IEEE Int. Conf. on Robotics and Automation, ICRA'11, 2011, Shanghai, China, Chine.
      https://inria.hal.science/hal-00639682v1
    • [45] O. Kermorgant, D. Folio, F. Chaumette. A new sensor self-calibration framework from velocity measurements. In IEEE Int. Conf. on Robotics and Automation, ICRA'10, 2010, Anchorage, Alaska, états-Unis.
      https://inria.hal.science/inria-00544787v1

Ouvrages - Chapitres d‘ouvrages et directions d‘ouvrages (OUV)

    • [46] F. Okoli, Y. Lang, O. Kermorgant, S. Caro. Cable-Driven Parallel Robot Simulation Using Gazebo and ROS. In In: Arakelian V., Wenger P. (eds) ROMANSY 22 - Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences (Courses and Lectures), vol. 584, Springer, Cham.. 20-05-2019
      https://hal.science/hal-02405560v1

Theses et HDR (THESE)

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