Papers by Christophe Grand
Enchères pour le Maintien des Communications lors de l'Allocation de Tâches pour des Missions Mul... more Enchères pour le Maintien des Communications lors de l'Allocation de Tâches pour des Missions Multi-robots Volume 4, n o 2 (2023), p. 97-122.
Enchères pour le Maintien des Communications lors de l'Allocation de Tâches
JFSMA, 2021
Robotique mobile : conception, modélisation et commande
Cet article aborde les aspects essentiels qui sont necessaires a la mise en œuvre des robots mobi... more Cet article aborde les aspects essentiels qui sont necessaires a la mise en œuvre des robots mobiles terrestres et notamment des robots a roues. Il presente les concepts generaux pour la conception et le choix d’architectures materielles des systemes locomoteurs. Il decrit egalement les principes de la modelisation cinematique et dynamique de ces systemes qui permettent d’analyser et de qualifier leur niveau de mobilite et le type de trajectoire realisable. Les techniques classiques pour la commande en boucle fermee de leurs deplacements et pour l’estimation de leurs parametres d’etat sont egalement presentees.
Motion analysis and optimization of actively articulated rovers on rough terrain
HAL (Le Centre pour la Communication Scientifique Directe), 2003
HAL (Le Centre pour la Communication Scientifique Directe), 2004
Actively articulated locomotion systems such as hybrid wheel-legged vehicles are a possible way t... more Actively articulated locomotion systems such as hybrid wheel-legged vehicles are a possible way to enhance the locomotion performance of autonomous mobile robot. In this paper, we address the control of the wheel-legged robot Hylos evolving on irregular sloping terrain.The redundancy involved in such system is used to optimize both the balance of traction forces and the tipover stability. The general formulation of this optimization problem is presented and a suboptimal but computationally efficient solution is proposed. Then, an algorithm that control the robot posture, based on the velocity model, is described. Finally, this algorithm is validated through simulations and experiments that show the capabilities of such redundantly actuated vehicle to enhance its own integrity and autonomy on critical environments.
HAL (Le Centre pour la Communication Scientifique Directe), 2008
This paper concerns the control of an autonomous high mobility wheel-legged rover evolving on une... more This paper concerns the control of an autonomous high mobility wheel-legged rover evolving on uneven terrains. A new control strategy, using active redundancies of the robot, leads to elaborate a posture control based on the potential field approach of the stability measurement. Then a decoupled posture and trajectory control algorithm based on the velocity model of the robot is proposed. Last, simulation results showing performance of the control algorithm are presented.
Market Approaches to the Multi-Robot Task Allocation Problem: a Survey
Journal of Intelligent and Robotic Systems, Feb 1, 2023
This paper concerns the control of an autonomous high mobility wheel-legged rover evolving on une... more This paper concerns the control of an autonomous high mobility wheel-legged rover evolving on uneven terrains. A new control strategy, using active redundancies of the robot, leads to elaborate a posture control based on the potential field approach of the stability measurement. Then a decoupled posture and trajectory control algorithm based on the velocity model of the robot is proposed. Last, simulation results showing performance of the control algorithm are presented.
Improving the Connectivity of Multi-hop Communication Networks Through Auction-Based Multi-robot Task Allocation
Springer eBooks, 2022
Predictive Runtime Verification of Skill-based Robotic Systems using Petri Nets
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 23, 2022
In this paper, we study the effects of impaired communications on the performances of auction-bas... more In this paper, we study the effects of impaired communications on the performances of auction-based task allocation in a dynamic surveillance scenario. We propose a novel connectivity term to include in the bid valuation formula, that aims at improving communications in the multi-robot team. We evaluate our method as well as another state-of-the-art method using robot inter-distance to maintain communication, on randomly generated scenarios and on a real-world scenario. We demonstrate that including our connectivity term in the bid valuation formula improves the performances of the auction scheme.
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 23, 2022
This paper introduces an Online Localisation and Colored Mesh Reconstruction (OLCMR) ROS percepti... more This paper introduces an Online Localisation and Colored Mesh Reconstruction (OLCMR) ROS perception architecture for ground exploration robots aiming to perform robust Simultaneous Localisation And Mapping (SLAM) in challenging unknown environments and provide an associated colored 3D mesh representation in real time. It is intended to be used by a remote human operator to easily visualise the mapped environment during or after the mission or as a development base for further researches in the field of exploration robotics. The architecture is mainly composed of carefully-selected open-source ROS implementations of a LiDAR-based SLAM algorithm alongside a colored surface reconstruction procedure using a point cloud and RGB camera images projected into the 3D space. The overall performances are evaluated on the Newer College handheld LiDAR-Vision reference dataset and on two experimental trajectories gathered on board of representative wheeled robots in respectively urban and countryside outdoor environments.
Skill-based design of dependable robotic architectures
Robotics and Autonomous Systems, Feb 1, 2023
A Hierarchical Deliberative Architecture Framework based on Goal Decomposition
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 23, 2022
HAL (Le Centre pour la Communication Scientifique Directe), 2002
This paper reviews works performed in our lab concerning the optimisation of locomotion performan... more This paper reviews works performed in our lab concerning the optimisation of locomotion performances for high mobility rovers evolving on rough terrains. Design and control of redundantly actuated locomotion systems are investigated in the aim to improve the field of accessible terrain for autonomous exploration. Main targets of such studies concern the off road locomotion in difficult environment like in volcanic or planetary exploration.
In this paper, we propose a formal language to specify robot skills, i.e. the elementary behaviou... more In this paper, we propose a formal language to specify robot skills, i.e. the elementary behaviours or functions provided by the robot platform in order to perform an autonomous mission. The advantage of the language we propose is that it integrates a wide range of elements that allows to define and provide automatic translation both to operational models, used online to control the skill execution, and descriptive models, allowing to reason about the expected skill execution, and then apply automated planning or model-checking taking skill models into account.
Market Approaches to the Multi-Robot Task Allocation Problem: a Survey
Journal of Intelligent & Robotic Systems
A Hierarchical Deliberative Architecture Framework based on Goal Decomposition
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
On rough non-cohesive terrain, mobility or stability of a mobile robot could be critical. Then, c... more On rough non-cohesive terrain, mobility or stability of a mobile robot could be critical. Then, control and planning processes must be based on relevant indexes which qualify system performances or the risk of immobility or instability. Basically, the two concepts of mobility and stability could be generalized by the one of force transmission between the contact, joint and task frames. Some methods directly inspired from manipulation or grasping applications will be used here for characterizing the obstacle clearance of articulated mobile robots or their stability on uneven ground surface. These measures are also used for motion optimization of kinematically redundant robot such as a hybrid wheeledlegged robot and an articulated multi-monocycle vehicle.
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Papers by Christophe Grand