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Habilitation à diriger des recherches

Contributions en commande et estimation pour robots autonomes et systèmes aérospatiaux

Abstract : This work, conducted in the ONERA Information Processing and Systems Department, deals with control, estimation and numerical optimization methods applied to autonomous robots and aerospace systems. These topics contribute to the definition and validation of algorithms which can be embedded on terrestrial and aerial vehicles so that they can safely carry out more and more autonomous missions in large-scale environments. This applied research covers a broad spectrum, from the definition of concepts and methods through academic collaborations or PhD theses, up to the design and test of prototypes and their transfer to industrial partners. Following previous work in PhD theses, the design of fault diagnosis methods relying on dynamical models and state observers is considered. This topic is gaining significant attention in the aerospace industry, where we are now studying the application of these techniques to cryogenic rocket engines and we are also exploring predictive diagnosis methods for subsystems and components. The main activity described in this Habilitation thesis is dedicated to guidance methods for autonomous robots, in particular micro-air vehicles and wheeled robots. The studied techniques mostly rely on nonlinear Model Predictive Control, whose versatility makes it possible to tackle several problematics within the same framework. The topics addressed are the cooperative control of fleets of vehicles, and control and estimation methods for autonomous navigation using multiple embedded sensors (stereo-vision, IMU, lidar). In association with Image Processing colleagues, we perform experiments with terrestrial and aerial robots in GPS-denied indoor cluttered environments. This has lead to several demonstrations of new autonomous navigation capabilities in the framework of R&T projects. Finally, since control is strongly related to optimizing cost functions, we are also interested in numerical techniques for global optimization relying on Kriging metamodeling, with specific application to the automatic tuning of algorithms and the development of estimation techniques.
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Habilitation à diriger des recherches
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https://tel.archives-ouvertes.fr/tel-02491926
Contributor : Julien Marzat <>
Submitted on : Wednesday, February 26, 2020 - 2:49:04 PM
Last modification on : Monday, October 19, 2020 - 10:59:42 AM
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Julien Marzat. Contributions en commande et estimation pour robots autonomes et systèmes aérospatiaux. Automatique / Robotique. Université Paris Saclay, 2019. ⟨tel-02491926⟩

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