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Abdelhamid Chriette
34
Documents
Researcher identifiers
abdelhamid-chriette
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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
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Super-Twisting Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator16th 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 Environment11th IFAC Symposium on Intelligent Autonomous Vehicles (IAV 2022), Jul 2022, Prague, Czech Republic. pp.151-157
Conference papers
hal-03801266v1
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A Requirement Engineering Framework for Smart Cyber-Physical Production SystemTowards 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 FormationsIEEE 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 ManipulatorInternational 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 MeasurementsIEEE Conference on Intelligent Robots and Systems (IROS 2021), Sep 2021, Prague, Czech Republic
Conference papers
hal-03376074v1
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Dynamic Modeling and Controller Design of a novel aerial grasping robot23rd 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 factoryInternational conference on Interoperability for Enterprise Systems and Applications, Nov 2020, Tarbes, France. ⟨10.1007/978-3-030-90387-9_5⟩
Conference papers
hal-03011568v1
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Identification of the Propeller Coefficients and Dynamic Parameters of a Hovering Quadrotor from Flight DataIEEE 2020 International Conference on Robotics and Automation (ICRA 2020), May 2020, Paris, France. ⟨10.1109/LRA.2020.2966393⟩
Conference papers
hal-02491491v1
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Control-based Design of a DELTA robot23rd 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
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Minimizing the Energy Consumption of a Delta Robot by Exploiting the Natural DynamicsRoManSy 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 RobotsThe 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 SystemThe 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 generationASME 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 SystemsASME 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
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Minimizing Input Torques of a High-Speed Five-Bar Mechanism by using Variable Stiffness Springs22nd 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 Objects22nd 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
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The Kinematics, Dynamics and Control of a Flying Parallel Robot with Three Quadrotors2018 IEEE International Conference on Robotics and Automation (ICRA 2018), May 2018, Brisbane, Australia. ⟨10.1109/LRA.2017.2774920⟩
Conference papers
hal-01685032v1
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Pose estimation scheme in vision system – preliminary results and first experimentationsIEEE Conference on Control Technology and Applications, 2017, Kohala Coast, Hawaii, United States
Conference papers
hal-01726046v1
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Dynamic sensor-based control2016 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 ControlIntelligent 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 landing14th European Control Conference (ECC'15), Jul 2015, Linz, Austria. pp.1818-1823, ⟨10.1109/ECC.2015.7330802⟩
Conference papers
hal-01317569v1
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Model-based system engineering approach for the conception of flexible production systemsSystems Engineering: Product, Process, Performance (Equipe IS3P) Réunion-LS2N, Sep 2019, Nantes, France
Conference poster
hal-03263104v1
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