Benoit Clement
77
Documents
Presentation
### Professor at ENSTA Bretagne and Flinders University
My main interests are in Robotics and Automatic Control. The underwater activities naturally lead to marine robotics (surface and underwater)
*Keywords* : AUV, Robust Control, Robotics, Optimisation, Reinforcement Learning
*Research team* : IRL CROSSING
( also MATRIX of the LabSTICC UMR 6285 - CNRS ([web](https://labsticc.fr/fr/equipes/matrix)))
Webpage: https://www.ensta-bretagne.fr/clement/ or <https://researchnow.flinders.edu.au/en/persons/benoit-clement>
### Contact
*Phone* : +33 (0)2 98 34 89 70 / +61 (0)468 947 775
Publications
Nested branch-and-bound algorithm for min-max problems2022 Optimization Days, 2022, Montreal, Canada
Conference papers
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Security Protocols in Drones: Issues and ChallengesSecurity & Protection of Information 2022 (SPI22), 2022, Grenoble, France
Conference papers
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Attenuating Catastrophic Forgetting by Joint Contrastive and Incremental LearningIEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Jun 2022, New-Orleans, United States. ⟨10.1109/CVPRW56347.2022.00423⟩
Conference papers
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Underwater Eversion Robot Growth for Underwater Operations with an Emphasis on Underwater Mine HuntingIEEE UK&I RAS Conference, 2022, Glasgow, United Kingdom
Conference papers
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Nested branch-and-bound algorithm for minmax problem and constraints with quantifiersEUROPT 2021, the 18th international workshop on continuous optimization, continuous optimization working group of EURO, Jul 2021, Toulouse, France
Conference papers
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Survey on machine learning applied to medical image analysis14th International Congress on Image and Signal Processing, BioMedical Engineering and Informatics, Oct 2021, Shanghai, China
Conference papers
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Evaluation of a Deep-Reinforcement-Learning-based Controller for the Control of an Autonomous Underwater VehicleIEEE Oceans 2020, Oct 2020, singapour, Singapore. ⟨10.1109/IEEECONF38699.2020.9389415⟩
Conference papers
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State-of-the-art of standalone accurate AUV positioning - application to high resolution bathymetric surveysIEEE Oceans 2019, Jun 2019, Marseille, France. ⟨10.1109/OCEANSE.2019.8867041⟩
Conference papers
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Auto-tuning PID controller based on machine learning algorithms for robust control of autonomous underwater vehiclesIEEE Oceans 2019, Jun 2019, Marseille, France
Conference papers
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Structured H ∞ Regulations Applied to AUV Yaw ControlOCEANS 2019 - Marseille, Jun 2019, Marseille, France. pp.1-5, ⟨10.1109/OCEANSE.2019.8867446⟩
Conference papers
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A Low-Cost Test Bench for Underwater Thruster IdentificationConference on Control Applications in Marine Systems, Robotics, and Vehicles, Sep 2019, Daejeon, South Korea
Conference papers
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Cooperative guidance system for auv docking with an active free-floating docking stationIEEE Oceans 2019, Jun 2019, Marseille, France
Conference papers
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AUV Hinfinity Robust Control Design using Interval Analysis with Experimental ValidationIEEE Oceans 2019, Jun 2019, Marseille, France
Conference papers
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Optimisation globale de problèmes Min-Max : application à la synthèse de loi de commande robuste19ème Congrès annuel de la Société française de recherche opérationnelle et d’aide à la décision (ROADEF 2018), Lab-STICC Feb 2018, Lorient, France
Conference papers
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Depth Control of a Submarine: An Application of Structured H
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Autopilot for a marine vessel : a formal proff of robustness and optimal control based on an uncertain model13th national conference on Software and Hardware Architectures for Robots Control (SHARC 2018), Naval Group, Jun 2018, Saint-Tropez, France
Conference papers
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Control of an Autonomous Underwater Vehicle subject to robustness constraints9th IFAC Symposium on Robust Control Design (ROCOND'18), Sep 2018, Florianopolis, Brazil
Conference papers
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A global optimization approach for non-linear sliding mode control analysis and design9th IFAC Symposium on Robust Control Design (ROCOND'18), Sep 2018, Florianopolis, Brazil
Conference papers
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Hardware-in-the-Loop Simulation Applied to AUV ControlChinese Automation Congress, (CAC 2018), Nov 2018, Xi'an, China
Conference papers
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Structured H_infty synthesis method with interval analysis : Application to the robust control of an auvIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Oct 2018, Madrid, Spain
Conference papers
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A global optimization approach to H infinity synthesis with parametric uncertainties applied to AUV controlIFAC World Congress, IFAC, Jul 2017, Toulouse, France
Conference papers
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Wireless Based System for Continuous Electrocardiography Monitoring during SurgeryICBSAT 2017 : 19th International Conference on Biomedical Signal Analysis Technology, Oct 2017, Paris, France
Conference papers
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Pattern formation for a fleet of AUVs based on optical sensorOCEANS 2017, Jun 2017, Aberdeen, United Kingdom
Conference papers
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Optimization based control for Robots, solutions for the implementation issueConference on Software and Hardware Architectures for Robots Control, Jun 2016, Brest, France
Conference papers
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Global Optimization of continuous MinMax problemXIII Global Optimization Workshop, Sep 2016, Braga, Portugal
Conference papers
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A Modeling and Control approach for a cubic AUV10th IFAC Conference on Control Applications in Marine Systems, Sep 2016, Tronheim, Norway. pp.279 - 284, ⟨10.1016/j.ifacol.2016.10.355⟩
Conference papers
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Sliding mode reference conditioning for path following applied to an AUV10th IFAC Conference on Control Applications in Marine Systems (CAMS 2016), Sep 2016, Trondheim, Norway
Conference papers
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A global optimization approach to structured regulation design under Hinfinity constraints 55th IEEE Conference on Decision and Control CDC 2016), Dec 2016, Las Vegas, United States
Conference papers
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MITIGATION OF THE SATURATION EFFECT IN AUV PATH FOLLOWING APPLICATIONS25o Congreso Argentino de Control Automático, Nov 2016, Buenos Aires, Argentina
Conference papers
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Global Optimization of H ∞ problems: Application to robust control synthesis under structural constraintsMACIS, Nov 2015, Berlin, Germany
Conference papers
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$H_\infty$ control synthesis under structural constraints based on Global Optimization13thEUROPT Workshop on Advances in Continuous Optimization, Jul 2015, Edinburgh, United Kingdom
Conference papers
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Global Optimization based on Contractor Programming8th Small Workshop on Interval Methods, Jun 2015, Prague, Czech Republic
Conference papers
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Modeling of a Complex-Shaped Underwater VehicleICARSC 2014 - IEEE International Conference on Autonomous Robot Systems and Competitions, May 2014, Espinho, Portugal
Conference papers
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Underwater Vehicle Modeling and Control Application to Ciscrea RobotMOQESM'14, ENSTA Bretagne, Oct 2014, Brest, France
Conference papers
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A Marine Robotics point of view for Coastal OceanographyInnovation & Blue Growth symposium, Oct 2013, Qingdao, China
Conference papers
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Control Algorithms for a Sailboat Robot with a Sea ExperimentConference on Control Applications in Marine Systems, Sep 2013, Osaka, Japan
Conference papers
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An Arduino compatible CAN Bus architecture for sailing applicationsInternational Robotic Sailing Conference, Sep 2013, France. pp.37, ⟨10.1007/978-3-319-02276-5⟩
Conference papers
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FPGA Implementation of a Parameterized Fourier SynthesizerIEEE International Conference on Electronics, Circuits, and Systems, Dec 2013, Abu Dhabi, United Arab Emirates
Conference papers
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Système d'assistance à la navigation handivoileHandicap 2012, Jun 2012, Paris, France. pp.180
Conference papers
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Suivi de route pour un robot voilierConférence Internationale Francophone d'Automatique (CIFA2012), Jul 2012, Grenoble, France. pp.695-702
Conference papers
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Sea glider guidance around a circle using distance measurements to a drifting acoustic sourceIEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2012, Portugal. pp.94-99, ⟨10.1109/IROS.2012.6385659⟩
Conference papers
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Sailing without wind sensor and other hardware and software innovationsSAILING 2011, Jul 2011, Germany
Conference papers
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JOG : une approche haut niveau des systèmes embarqués via Armadeus et Java3èmes Journées Démonstrateurs 2010, Nov 2010, Angers, France
Conference papers
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Interval Tools and Convex Optimization For Robust Constraint Feasibility3rd Small Workshop on Interval Methods, Jun 2010, Nantes, France
Conference papers
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Multi-objective controller design for a space launcherECC'07, Jul 2007, Kos, Greece. pp.4016-4022
Conference papers
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Robust gain scheduled control of a space launcher by introducing LQG/LTR ideas in the NCF robust stabilisation problemIEEE Conference on Decision and Control, Dec 2007, New Orleans, United States. pp.2393-2398
Conference papers
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Multi-Objective Controller Design for a Space LauncherEuropean Control Conference, Jul 2007, Kos, Greece
Conference papers
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Robust gain scheduled control of a space launcher by introducing LQG/LTR ideas in the NCF robust stabilisation problem46th IEEE Conference on Decision and Control, Dec 2007, United States. pp.2393 - 2398
Conference papers
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Retouche de correcteur multiobjectifs par optimisation convexe : application au pilotage d'un lanceur spatialConférence Internationale Francophone d'Automatique CIFA 2006, Jun 2006, Bordeaux, France. pp.CD-ROM
Conference papers
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Robust Heading Control and its Application to Ciscrea Underwater VehicleOCEANS'15/MTS/IEEE, May 2015, Genova, Italy. 2015
Conference poster
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Quantitative Monitoring of the Underwater EnvironmentSpringer International Publishing. 6, 2016, 978-3-319-32107-3. ⟨10.1007/978-3-319-32107-3⟩
Books
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Siamese Network for Salivary Glands SegmentationIntelligent Decision Technologies, 309, Springer Nature Singapore, pp.449-457, 2022, Smart Innovation, Systems and Technologies, ⟨10.1007/978-981-19-3444-5_39⟩
Book sections
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Global Optimization of Hinfinity Problems: Application to Robust Control Synthesis Under Structural ConstraintsMathematical Aspects of Computer and Information Sciences, , 2016, 978-3-319-32859-1. ⟨10.1007/978-3-319-32859-1_46⟩
Book sections
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Étude de l'interaction entre les immunoglobulines A sécrétoires et la cellule épithéliale intestinale humaineImmunologie. Université Sorbonne Paris Cité, 2017. Français. ⟨NNT : 2017USPCB048⟩
Theses
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Commande Robuste et Contraintes d'OptimisationAutomatique / Robotique. UBO, 2015
Habilitation à diriger des recherches
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