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Participants: Diego Navarro, Ezio Malis, Rahael Antoine, Philippe Martinet, Cyrille Fauchard

Context and problems: In the context of the ROAD-AI challenge, the ENDSUM team from Cerema and the ACENTAURI team from Inria are collaborating to develop a system capable of conducting radar inspections in close proximity to the surface of structures. In consequence, both teams co-supervise a doctoral thesis centered in: Precise localization and control of a collaborative multi-robot system for infrastructure inspection. The main challenge in localization is achieving high precision to ensure the system’s integrity. Additionally, there are issues related to potential loss of GPS signal and a lack of meaningful information during close-range flights.

Contributions: To address the localization problems, the system is expected to incorporate heterogeneous sensor fusion, combined with a V-SLAM (Visual Simultaneous Localization and Mapping) framework. This parallel approach will create a dense representation of the environment for navigation tasks. Moreover, the control of the agent will utilize model predictive control and state observers to compensate for aerodynamic perturbations specific to the user case.

Participants: J. Thomas, P. Martinet, S. Dominguez Quijada (LS2N)
Context and problems: CASA offers the possibility to use a parking area (100m*100m) for experimentation of Autonomous Navigation. Four main problems must be solved: Mapping, Path registration, Localization and Autonomous Navigation. Collaboration between CHORALE and LS2N/ARMEN.
Contributions: A LIDAR based multi-local map representation of the site is realized. An AMCL technique is used for localization. Path are registered manually by a driver and repeated autonomously by the car.

• S. Dominguez Quijada, B. Khomutenko, G. Garcia, P. Martinet, An optimization technique for positioning multiple maps for self-driving car’s autonomous navigation , Intelligent Transportation System Conference Symposium, Gran Canaria, Spain, September 15-18, pp. 2694-2699, 2015,
• S. Dominguez Quijada, A. Ali, G. Garcia, P. Martinet, “ Comparison of lateral controllers for autonomous vehicle : experimental results”, IEEE Conference on Intelligent Transportation Systems, Rio de Janeiro, Brazil, November 1-4th, pp. 1418-1423, 2016
• G. Garcia, S. Dominguez Quijada, J.M. Blosseville, A. Hamon, X. Koreki, P. Martinet, “ Experimental study of the precision of a multi-map AMCL-based localization system”, 9th Workshop on Planning, Perception and Navigation for Intelligent Vehicles, IROS17-PPNIV’17, pp. 154-159, Vancouver, Canada, September 24th, 2017

Participants: J. Thomas, P. Martinet, S. Dominguez Quijada (LS2N)
Context and problems: Real experiments of Mapping and localization in the disctrict Garbejaïre in Sophia-Antipolis. Two main problems must be solved: Mapping and Localization. Collaboration between CHORALE and LS2N/ARMEN.
Contributions: A LIDAR based multi-local map representation of the site is realized. An AMCL technique is used for localization.

• S. Dominguez Quijada, B. Khomutenko, G. Garcia, P. Martinet, An optimization technique for positioning multiple maps for self-driving car’s autonomous navigation , Intelligent Transportation System Conference Symposium, Gran Canaria, Spain, September 15-18, pp. 2694-2699, 2015,
• S. Dominguez Quijada, A. Ali, G. Garcia, P. Martinet, “ Comparison of lateral controllers for autonomous vehicle : experimental results”, IEEE Conference on Intelligent Transportation Systems, Rio de Janeiro, Brazil, November 1-4th, pp. 1418-1423, 2016
• G. Garcia, S. Dominguez Quijada, J.M. Blosseville, A. Hamon, X. Koreki, P. Martinet, “ Experimental study of the precision of a multi-map AMCL-based localization system”, 9th Workshop on Planning, Perception and Navigation for Intelligent Vehicles, IROS17-PPNIV’17, pp. 154-159, Vancouver, Canada, September 24th, 2017

Participants: J. Thomas, P. Martinet, S. Dominguez Quijada (LS2N)
Context and problems: The iste of Inria Sophia antiplois is used for experimentation of Autonomous Navigation. Four main problems must be solved: Mapping, Path registration, Localization and Autonomous Navigation. Collaboration between CHORALE and LS2N/ARMEN.
Contributions: A LIDAR based multi-local map representation of the site is realized. An AMCL technique is used for localization. Path are registered manually by a driver and repeated autonomously by the car.

• S. Dominguez Quijada, B. Khomutenko, G. Garcia, P. Martinet, An optimization technique for positioning multiple maps for self-driving car’s autonomous navigation , Intelligent Transportation System Conference Symposium, Gran Canaria, Spain, September 15-18, pp. 2694-2699, 2015,
• S. Dominguez Quijada, A. Ali, G. Garcia, P. Martinet, “ Comparison of lateral controllers for autonomous vehicle : experimental results”, IEEE Conference on Intelligent Transportation Systems, Rio de Janeiro, Brazil, November 1-4th, pp. 1418-1423, 2016
• G. Garcia, S. Dominguez Quijada, J.M. Blosseville, A. Hamon, X. Koreki, P. Martinet, “ Experimental study of the precision of a multi-map AMCL-based localization system”, 9th Workshop on Planning, Perception and Navigation for Intelligent Vehicles, IROS17-PPNIV’17, pp. 154-159, Vancouver, Canada, September 24th, 2017

Participants: A. Khalifa (LS2N), O. Kermorgant (LS2N), S. Dominguez Quijada (LS2N), P. Martinet (Inria)
Context and problems: In the framework of the VALET ANR project, platooning of cars is investigated and experimented at ECN site. Three main problems have been solved: Lateral and longitudinal control, Platoon state estimation. Collaboration between CHORALE and LS2N/ARMEN.
Contributions: A LIDAR based multi-local map representation of the site is realized. An AMCL technique is used for localization. The Leader can be autonomous or manually driven. Intercommunication between cars is limited. An observer based longitudinal control law is proposed.

S. Dominguez Quijada, B. Khomutenko, G. Garcia, P. Martinet, A. Khalifa, O. Kermorgant, S. Dominguez Quijada, P. Martinet, “ Vehicles Platooning in Urban Environment: Consensus-based Longitudinal Control with Limited Communications Capabilities”, ICARCV’18, pp. 809-814, Singapore, Singapore, November 18-21th, 2018
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”, European Conference on Control, ECC19, Napoli, Italy, pp. 1695-1701, June 2019
A. Khalifa, O. Kermorgant, S. Dominguez, P. Martinet, “ An observer based longitudinal control of car like vehicles platoon navigating in an urban environment”, International Conference on Decision and Control, CDC19, Nice, France, pp. , December 11-13th 2019
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, Vol. , pp. , 2020, doi: 10.1109/TITS.2020.2988948

Participants: D. Perez Morales (LS2N), O. Kermorgant (LS2N),S. Dominguez Quijada (LS2N) P. Martinet (Inria)

Context and problems: In the framework of VALET ANR porject, Autonomous parking problem is adressed. Different problems have been adressed: relative localization regarding an empty slot, perfoming maneuvers in reduced and dynamic environment. Collaboration between CHORALE and LS2N/ARMEN.
Contributions: Using a LIDAR based approach, an algorithm provides an empty slot, a sensor based control low is designed for backward and forward parking (parallel, diagonal, perpendicular), an MPC based approach allows to park in presence of humans.

D. Perez Morales, O. Kermorgant, S. Dominguez Quijada, P. Martinet, “ Autonomous Perpendicular And Parallel Parking Using Multi-Sensor Based Control”, 9th Workshop on Planning, Perception and Navigation for Intelligent Vehicles, IROS17-PPNIV’17, pp. 38-44, Vancouver, Canada, September 24th, 2017
D. Perez Morales, O. Kermorgant, S. Dominguez Quijada, P. Martinet, “ Multi-Sensor-Based Predictive Control for Autonomous Backward Perpendicular and Diagonal Parking”, IROS18-PPNIV’18, pp. 173-180, Madrid, Spain, October 1st, 2018
D. Perez Morales, O. Kermorgant, S. Dominguez Quijada, P. Martinet, “ Automatic Perpendicular and Diagonal Unparking Using a Multi-Sensor-Based Control Approach”, ICARCV’18, pp. 783-788, Singapore, Singapore, November 18-21th, 2018