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Abdelhamid Chriette

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Researcher identifiers
  • IdHAL abdelhamid-chriette
  • ORCID 0000-0003-4457-1561
  • Google Scholar : https://scholar.google.fr/citations?user=_-RiPnoAAAAJ&hl=fr&scioq=chriette

Presentation

I graduated from Université Djillali Liabès (Algeria) in 1997, then I joined Pieer and Marie Curie University and obtain my Master in Robotics graduate in 1998. From 1998 to 2001 I was a PhD student in the LSC team at Université d'Evry Val d'Essone. I then spent 2 years, from 2001 to 2003, as ATER (Attaché Temporaire d'Enseigneent et de Recherche in french) in CNAM Paris and LSC Laboratory. Since 2003, I am been assistant professor at Centrale Nantes (teaching Robotics, Signal Prossesing, Automatic, etc.) and a researcher at LS2N (previously IRCCyN) in the ARMEN team. *My research activities are in two research areas:* * modelling, identification, observation and control of linear and non-linear systems * Sensor and multi-sensor based control (SBC). My main contributions in sensor/multi-sensor based control mainly concern the research and proposal of new robot-environment interaction models (patterns) in order to propose dynamic sensor baased control laws for two fields of application: manipulator robots and single and multi-drone aerial systems. In aerial robotics, I mainly worked on the generic modeling of flying machines of any type (rotary (n rotors) or fixed wing) and on the control-guiding laws associated with these models. Moreover, since the creation of the ARMEN-LS2N team, I have directed my research in this field towards two axes: 1. the study, modelling, design and control of a new generation of UAV systems (composed of two or more UAVs) for collaborative grasping and manipulation (parallel flying robots, gripping robots, parralel cable flying robots) 2. the control of a fleet of UAVs (a very recent theme that I hope to develop in the coming years).
J'ai obtenu mon diplôme de l'Université Djillali Liabès (Algérie) en 1997, puis j'ai intégré l'Université Pierre et Marie Curie et obtenu mon Master en Robotique en 1998. De 1998 à 2001 j'ai été doctorant dans l'équipe LSC de l'Université d'Evry Val d'Essone. J'ai ensuite passé 2 ans, de 2001 à 2003, en tant qu'ATER (Attaché Temporaire d'Enseigneent et de Recherche) au CNAM Paris et au Laboratoire LSC. Depuis 2003, je suis maître de conférences à Centrale Nantes (enseignement de la robotique, du traitement du signal, de l'automatique, etc.) et chercheur au LS2N (anciennement IRCCyN) dans l'équipe ARMEN. Mes activités de recherche s'articulent autour de deux axes de recherche : * Modélisation, identification, observation et contrôle de systèmes linéaires et non linéaires * Commande par capteurs et multi-capteurs (SBC). Mes principales contributions en commande par capteurs/multi-capteurs concernent principalement la recherche et la proposition de nouveaux modèles d'interaction robot-environnement (patterns) afin de proposer des lois de commande dynamiques basées sur des capteurs pour deux domaines d'application : les robots manipulateurs et les systèmes aériens mono et multi-drones. En robotique aérienne, j'ai principalement travaillé sur la modélisation générique d'engins volants de tout type (rotor (n rotors) ou à voilure fixe) et sur les lois de commande-guidage associées à ces modèles. De plus, depuis la création de l'équipe ARMEN-LS2N, j'oriente mes recherches dans ce domaine vers deux axes : 1. L'étude, la modélisation, la conception et le contrôle d'une nouvelle génération de systèmes de drones (composés de deux ou plusieurs drones) de préhension et de manipulation collaborative (robots volants parallèles, robots de préhension, robots volants à câbles parallèles) 2. Le contrôle d'une flotte de drones (une thématique très récente que je souhaite développer dans les années à venir).

Research domains

Robotics [cs.RO] Automatic Control Engineering

Skills

Modélisation et commande des engins volants Commande référencée capteurs Commande adaptative

Publications

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Singularity Analysis of Rigid Directed Bearing Graphs for Quadrotor Formations

Julian Benedict Czapalay Erskine , Sébastien Briot , Isabelle Fantoni , Abdelhamid Chriette
IEEE Transactions on Robotics, 2024, 40 (1), pp.139-157
Journal articles hal-04236733v1
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Decentralized control and state estimation of a flying parallel robot interacting with the environment

Shiyu Liu , Isabelle Fantoni , Abdelhamid Chriette
Control Engineering Practice, 2024, 144, pp.105817. ⟨10.1016/j.conengprac.2023.105817⟩
Journal articles hal-04397085v1
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Wrench Capability Analysis and Control Allocation of a Collaborative Multi-Drone Grasping Robot

Zhongmou Li , Vincent Bégoc , Abdelhamid Chriette , Isabelle Fantoni
Journal of Mechanisms and Robotics, 2023, 15 (2), ⟨10.1115/1.4054610⟩
Journal articles hal-03964822v1
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Performing Energy-Efficient Pick-and-Place Motions for High-Speed Robots by using Variable Stiffness Springs

Rafael Balderas Hill , Sébastien Briot , Abdelhamid Chriette , Philippe Martinet
Journal of Mechanisms and Robotics, 2022, 14, pp.051004-1--051004-10. ⟨10.1115/1.4053158⟩
Journal articles hal-03457432v1
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Sensor-based design of a Delta parallel robot

Minglei Zhu , Sébastien Briot , Abdelhamid Chriette
Journal articles hal-03755520v1
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Dynamic Modelling and Control of Flying Parallel Robots

Damien Six , Sébastien Briot , Abdelhamid Chriette , Philippe Martinet
Control Engineering Practice, 2021, 117, pp.1-13. ⟨10.1016/j.conengprac.2021.104953⟩
Journal articles hal-03348780v1
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Identification of the Propeller Coefficients and Dynamic Parameters of a Hovering Quadrotor from Flight Data

Damien Six , Sébastien Briot , Julian Erskine , Abdelhamid Chriette
IEEE Robotics and Automation Letters, 2020, 5 (2), pp.1063-1070. ⟨10.1109/LRA.2020.2966393⟩
Journal articles hal-02431388v1
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Design and Control of a Variable Aerial Cable Towed System

Zhen Li , Julian Erskine , Stéphane Caro , Abdelhamid Chriette
IEEE Robotics and Automation Letters, 2020, 5 (2), pp.636-643. ⟨10.1109/LRA.2020.2964165⟩
Journal articles hal-02426165v2
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Wrench Analysis of Cable-Suspended Parallel Robots Actuated by Quadrotors UAVs

Julian Benedict Czapalay Erskine , Abdelhamid Chriette , Stéphane Caro
Journal of Mechanisms and Robotics, 2019, 11 (2), pp.020909-1 -- 020909-12. ⟨10.1115/1.4042513⟩
Journal articles hal-01970501v1

Visual estimation of deviations for the civil aircraft landing

Victor Gibert , Franck Plestan , Laurent Burlion , Josep Boada , Abdelhamid Chriette
Control Engineering Practice, 2018, 75, pp.17-25. ⟨10.1016/J.CONENGPRAC.2018.03.004⟩
Journal articles hal-01740825v1
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The Kinematics, Dynamics and Control of a Flying Parallel Robot with Three Quadrotors

Damien Six , Sébastien Briot , Abdelhamid Chriette , Philippe Martinet
IEEE Robotics and Automation Letters, 2018, 3 (1), pp.559-566. ⟨10.1109/lra.2017.2774920⟩
Journal articles hal-01634289v1
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Super-Twisting Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator

Hardy Bin Anuar , Franck Plestan , Abdelhamid Chriette , Olivier Kermorgant
16th International Workshop on Variable Structure Systems, Sep 2022, Rio de Janeiro, Brazil
Conference papers hal-03749293v1
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Wrench Estimation and Impedance-based Control applied to a Flying Parallel Robot Interacting with the Environment

Shiyu Liu , Isabelle Fantoni , Abdelhamid Chriette , Damien Six
11th IFAC Symposium on Intelligent Autonomous Vehicles (IAV 2022), Jul 2022, Prague, Czech Republic. pp.151-157
Conference papers hal-03801266v1

A Requirement Engineering Framework for Smart Cyber-Physical Production System

Puviyarasu .S.A , Catherine da Cunha , Farouk Belkadi , Abdelhamid Chriette
Towards Sustainable Customization: Bridging Smart Products and Manufacturing Systems, Nov 2021, Aalborg, Denmark. ⟨10.1007/978-3-030-90700-6_43⟩
Conference papers hal-03437161v1
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Model Predictive Control for Dynamic Quadrotor Bearing Formations

Julian Erskine , Rafael Balderas-Hill , Isabelle Fantoni , Abdelhamid Chriette
IEEE International Conference on Robotics and Automation, May 2021, Xi'an (virtual), China
Conference papers hal-03177635v1
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Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator

Hardy Azmir Anuar , Franck Plestan , Abdelhamid Chriette , Olivier Kermorgant
International Conference on Advanced Robotics, Dec 2021, Ljubljana, Slovenia
Conference papers hal-03445938v1
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Decentralized Control and Teleoperation of a Multi-UAV Parallel Robot Based on Intrinsic Measurements

Shiyu Liu , Julian Erskine , Abdelhamid Chriette , Isabelle Fantoni
IEEE Conference on Intelligent Robots and Systems (IROS 2021), Sep 2021, Prague, Czech Republic
Conference papers hal-03376074v1
Image document

Dynamic Modeling and Controller Design of a novel aerial grasping robot

Zhongmou Li , Xiaoxiao Song , Vincent Begoc , Abdelhamid Chriette , Isabelle Fantoni
23rd CISM IFToMM Symposium on Robot Design, Dynamics and Control (RoManSy 2020), Sep 2020, Sapporo, Japan. ⟨10.1007/978-3-030-58380-4_64⟩
Conference papers hal-02852375v1
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A semantic interface model to support the integration of drones in a cyber-physical factory

Puviyarasu .S.A , Farouk Belkadi , Catherine da Cunha , Abdelhamid Chriette , Alain Bernard
International conference on Interoperability for Enterprise Systems and Applications, Nov 2020, Tarbes, France. ⟨10.1007/978-3-030-90387-9_5⟩
Conference papers hal-03011568v1
Image document

Identification of the Propeller Coefficients and Dynamic Parameters of a Hovering Quadrotor from Flight Data

Damien Six , Sébastien Briot , Julian Erskine , Abdelhamid Chriette
IEEE 2020 International Conference on Robotics and Automation (ICRA 2020), May 2020, Paris, France. ⟨10.1109/LRA.2020.2966393⟩
Conference papers hal-02491491v1
Image document

Control-based Design of a DELTA robot

Minglei Zhu , Abdelhamid Chriette , Sébastien Briot
23rd CISM IFToMM Symposium on Robot Design, Dynamics and Control (RoManSy 2020), Sep 2020, Sapporo, Japan. ⟨10.1007/978-3-030-58380-4_25⟩
Conference papers hal-02849815v1
Image document

Minimizing the Energy Consumption of a Delta Robot by Exploiting the Natural Dynamics

Rafael Balderas Hill , Sébastien Briot , Abdelhamid Chriette , Philippe Martinet
RoManSy 2020 - 23rd CISM IFToMM Symposium on Robot Design, Dynamics and Control, Sep 2020, Sapporo /Virtual, Japan. ⟨10.1007/978-3-030-58380-4_26⟩
Conference papers hal-02850036v1
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Exploiting Natural Dynamics in order to Increase the Feasible Static-Wrench Workspace of Robots

Rafael Balderas Hill , Sébastien Briot , Abdelhamid Chriette , Philippe Martinet
The 15th IFToMM World Congress, Jun 2019, Cracovie, Poland. ⟨10.1007/978-3-030-20131-9_215⟩
Conference papers hal-02003103v1
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Control and Configuration Planning of an Aerial Cable Towed System

Julian Erskine , Abdelhamid Chriette , Stéphane Caro
The 2019 IEEE International Conference on Robotics and Automation (ICRA~2019), May 2019, Montreal, Canada. ⟨10.1109/ICRA.2019.8794396⟩
Conference papers hal-01995301v1
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Increasing energy efficiency of high-speed parallel robots by using variable stiffness springs and optimal motion generation

Rafael Balderas Hill , Sébastien Briot , Abdelhamid Chriette , Philippe Martinet
ASME 2018 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2018), Aug 2018, Québec, Canada. ⟨10.1115/detc2018-85090⟩
Conference papers hal-01777551v1
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Wrench Capability Analysis of Aerial Cable Towed Systems

Julian Benedict Czapalay Erskine , Abdelhamid Chriette , Stéphane Caro
ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2018), Aug 2018, Québec, Canada. ⟨10.1115/DETC2018-85378⟩
Conference papers hal-01777623v1
Image document

Minimizing Input Torques of a High-Speed Five-Bar Mechanism by using Variable Stiffness Springs

Rafael Balderas Hill , Sébastien Briot , Abdelhamid Chriette , Philippe Martinet
22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control (RoManSy 2018), Jun 2018, Rennes, France. ⟨10.1007/978-3-319-78963-7_9⟩
Conference papers hal-01759341v1
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Design and Optimization of a Multi-drone Robot for Grasping and Manipulation of Large-size Objects

Marie Saint-Sevin , Vincent Begoc , Sébastien Briot , Abdelhamid Chriette , Isabelle Fantoni
22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control (RoManSy 2018), Jun 2018, Rennes, France. ⟨10.1007/978-3-319-78963-7_57⟩
Conference papers hal-01759340v2
Image document

The Kinematics, Dynamics and Control of a Flying Parallel Robot with Three Quadrotors

Damien Six , Sébastien Briot , Abdelhamid Chriette , Philippe Martinet
2018 IEEE International Conference on Robotics and Automation (ICRA 2018), May 2018, Brisbane, Australia. ⟨10.1109/LRA.2017.2774920⟩
Conference papers hal-01685032v1

Pose estimation scheme in vision system – preliminary results and first experimentations

Sébastien Rouquet , Franck Plestan , Abdelhamid Chriette , Malek Ghanes , Arnaud Hamon
IEEE Conference on Control Technology and Applications, 2017, Kohala Coast, Hawaii, United States
Conference papers hal-01726046v1

Dynamic sensor-based control

Abdelhamid Chriette , Sylvain Vandernotte , Philippe Martinet , Adolfo Suarez Roos
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV), Nov 2016, Phuket, France. ⟨10.1109/ICARCV.2016.7838639⟩
Conference papers hal-01774848v1
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Performing Assembly Task Under Constraints Using 3D Sensor-Based Control

Sylvain Vandernotte , Abdelhamid Chriette , Adolfo Suarez Roos , Philippe Martinet
Intelligent Autonomous Systems, 2016, Padua, Italy. pp.1389-1399, ⟨10.1007/978-3-319-08338-4⟩
Conference papers hal-01774922v1
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Nonlinear observers in vision system: Application to civil aircraft landing

Victor Gibert , Laurent Burlion , Abdelhamid Chriette , Josep Boada , Franck Plestan
14th European Control Conference (ECC'15), Jul 2015, Linz, Austria. pp.1818-1823, ⟨10.1109/ECC.2015.7330802⟩
Conference papers hal-01317569v1
Image document

Model-based system engineering approach for the conception of flexible production systems

Puviyarasu .S.A , Catherine da Cunha , Farouk Belkadi , Alain Bernard , Abdelhamid Chriette
Systems Engineering: Product, Process, Performance (Equipe IS3P) Réunion-LS2N, Sep 2019, Nantes, France
Conference poster hal-03263104v1