BC
Benoit Clement
Benoit Clement- Ensta Bretagne - CROSSING IRL CNRS 2010
81
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
Fusion of images and clinical features for the prediction of Pulmonary embolism in Ultrasound imaging2023 IEEE Statistical Signal Processing Workshop (SSP), Jul 2023, Hanoi (Vietnam), Vietnam. pp.423-427, ⟨10.1109/SSP53291.2023.10208034⟩
Conference papers
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FSET: Fast Structure Embedding Technique for Self-reconfigurable Modular Robotic Systems37th International Conference on Advanced Information Networking and Applications, 2023, Juiz de Fora, Brazil. pp.53-66, ⟨10.1007/978-3-031-28451-9_5⟩
Conference papers
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Path Planning Algorithms For Unmanned Aerial Vehicle: Classification, Performance, and ImplementationInternational Conference on Electrical, Computer, Communications and Mechatronics Engineering (ICECCME 2023), Jul 2023, Tenerife (Canaries), Spain. pp.1-6, ⟨10.1109/ICECCME57830.2023.10252168⟩
Conference papers
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Hybrid Navigation Acceptability and SafetyAAAI 2023 Fall Symposium Series, AAAI, Oct 2023, Arlington, United States
Conference papers
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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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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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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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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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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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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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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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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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Pattern formation for a fleet of AUVs based on optical sensorOCEANS 2017, Jun 2017, Aberdeen, United Kingdom
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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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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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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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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Global Optimization based on Contractor Programming8th Small Workshop on Interval Methods, Jun 2015, Prague, Czech Republic
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
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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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Modeling of a Complex-Shaped Underwater VehicleICARSC 2014 - IEEE International Conference on Autonomous Robot Systems and Competitions, May 2014, Espinho, Portugal
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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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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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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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Système d'assistance à la navigation handivoileHandicap 2012, Jun 2012, Paris, France. pp.180
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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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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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 problem46th IEEE Conference on Decision and Control, Dec 2007, United States. pp.2393 - 2398
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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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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Approche Entrée-Sortie et Optimisation Convexe : base de nouveaux outils de CAO pour la commande des systèmes non linéaires avec application en aéronautiqueColloque Automatique et Agronomie, INRA-ENSAM, Jan 2003, Montpellier, France
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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