Présentation
Depuis mon doctorat de Mathématiques à l'Université Pierre et Marie Curie (Paris 6), en 1998, je suis enseignant-chercheur dans le groupe Optimisation et Commande de l'Unité de Mathématiques Appliquées (UMA) de l'ENSTA et j'ai obtenu mon HDR en 2007. Je suis Professeur de l'ENSTA depuis 2011 et actuellement directeur de l'UMA. Mes activités de recherche s'inscrivent dans le contexte de la théorie du contrôle non-linéaire, et plus précisément du contrôle géométrique, et portent à la fois sur des aspects théoriques (géométrie sous-riemannienne, systèmes non-holonomes, approche géométrique du contrôle optimal) et sur des applications, en particulier à la modélisation de la neuro-physiologie et au spatial. Liste de publications par années: cliquer ici Encadrement doctoral: Supervision de postdoctorants:
Terence Bayen (2007-2008, actuellement Professeur à l'Univ. d'Avignon); Paolo Mason (2008-2009, actuellement CR CNRS, L2S); Francesca Chittaro (2009-2011; actuellement Professeur Associé à l'Univ. de Trento); Laetitia Giraldi (2014-2015, actuellement CR Inria, Inria Sophia-Antipolis).
Publications
Publications
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Stabilité et commande des systèmes dynamiquesPresses de l'ENSTA. 2017, 978-2-7225-0956 |
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Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion PlanningSpringer International Publishing, 2014, SpringerBriefs in Mathematics, 978-3-319-08689-7. ⟨10.1007/978-3-319-08690-3⟩ |
Stabilité et commande des systèmes dynamiquesLes Presses de l'ENSTA. 2011 |
Optimality and modularity in human movement: from optimal control to muscle synergiesVenture G.; Laumond JP.; Watier B. Biomechanics of Anthropomorphic Systems, 124, Springer, 2019, Springer Tracts in Advanced Robotics, 978-3-319-93869-1. ⟨10.1007/978-3-319-93870-7_6⟩ |
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On the duration of human movement: from self-paced to slow/fast reaches up to Fitts's lawJean-Paul Laumond, Nicolas Mansard and Jean-Bernard Lasserre. Geometric and Numerical Foundations of Movements , 117, Springer International Publishing, 2017, Springer Tracts in Advanced Robotics, 978-3-319-51546-5 |
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La mécanique des Sphères de Lie: un futur pour la CAO?SMF. Des mathématiques au monde socio-économique, 28, 2015, Fascicules « Journée annuelle » de la SMF |
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Hausdorff measures and dimensions in non equiregular sub-Riemannian manifoldsGeometric Control and sub-Riemannian geometry, 5, Springer International Publishing, pp.201-218, 2014, Springer INdAM Series, 978-3-319-02132-4. ⟨10.1007/978-3-319-02132-4_13⟩ |
Paths in sub-Riemannian geometryNonlinear control in the Year 2000, Springer London, pp.569-574, 2001, ⟨10.1007/BFb0110241⟩ |
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Geometry of nonholonomic systemsRobot Motion Planning and Control, Springer-Verlag, pp.55-91, 1998, ⟨10.1007/BFb0036071⟩ |
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Elementary approximation of exponentials of Lie polynomialsApplied Algebra, Algebraic Algorithms and Error-Correcting Codes, 1255, Springer Berlin Heidelberg, pp.174-188, 1997, Lecture Notes in Computer Science, ⟨10.1007/3-540-63163-1_14⟩ |
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Two-phase Trajectory Planning Method for Robust Planetary Landing in a Sensor-equipped Area2025 European Control Conference (ECC), Jun 2025, Thessaloniki, Greece. pp.1296-1301, ⟨10.23919/ECC65951.2025.11186925⟩ |
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Continuous-Time Nonlinear Optimal Control Problem Under Signal Temporal Logic ConstraintsIEEE Conference on Decision and Control, 2025, Rio de Janeiro, Brazil |
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Optimal planetary landing with pointing and glide-slope constraints61st IEEE Conference on Decision and Control, 2022, Cancún, Mexico. pp.4357-4362, ⟨10.1109/CDC51059.2022.9992735⟩ |
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A Mayer optimal control problem on Wasserstein spaces over Riemannian manifolds18th IFAC Workshop on Control Applications of Optimization, 2022, Gif-sur-Yvette, France. pp.44-49, ⟨10.1016/j.ifacol.2022.08.079⟩ |
A Unifying vision of Particle Filtering and Explicit Dual Control in Stochastic ControlFrench-GermanSwiss Conference on Optimization, Sep 2019, Nice, France |
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Injectivity of the inverse optimal control problem for control-affine systems2019 IEEE Conference on Decision and Control (CDC), Dec 2019, Nice, France. ⟨10.1109/CDC40024.2019.9028877⟩ |
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Dual Particle Output Feedback Control based on Lyapunov drifts for nonlinear systems2018 IEEE Conference on Decision and Control (CDC), Dec 2018, Miami Beach, United States. pp.250-255, ⟨10.1109/CDC.2018.8619640⟩ |
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Inverse Optimal Control Problem: The Linear-Quadratic Case2018 IEEE Conference on Decision and Control (CDC), Dec 2018, Miami Beach, United States. ⟨10.1109/CDC.2018.8619204⟩ |
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Nonlinear fisher particle output feedback control and its application to terrain aided navigation2017 IEEE 56th Annual Conference on Decision and Control (CDC), Dec 2017, Melbourne, Australia. ⟨10.1109/CDC.2017.8263874⟩ |
Commande optimale en temps minimal d'un procédé biologique d'épuration de l'eauProceedings of the International Joint Conference CB-WR-MED Conference/ 2nd AOP' Tunisia Conference for Sustainable Water Management. Tunis: April, 24―27,, 2013, Tunis, Tunisie. pp.225-226 |
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A geometrical approach for the resolution of an optimal control problemInternational Conference on Advances in Applied Mathematics ICAAM-2013, Dec 2013, Hammamet, Tunisia |
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Geometric modeling of the movement based on an inverse optimal control approach52nd IEEE Conference on Decision and Control CDC 2013, Dec 2013, Florence, Italy. pp.1816-1821, ⟨10.1109/cdc.2013.6760146⟩ |
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Control of Nonholonomic Systems and Sub-Riemannian GeometryÉcole de recherche CIMPA : Géométrie sous-riemannienne, Jan 2012, Beyrouth, Lebanon |
Commande optimale en temps minimal d’un procédé biologique d’épuration de l’eau11. Colloque Africain sur la Recherche en Informatique et en Mathématiques Appliquées (CARI’2012), Oct 2012, Alger, Algérie |
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Biologically inspired sensory motor control of a 2-link robotic arm actuated by McKibben muscles2011 IEEE International Conference on Robotics and Automation (ICRA), May 2011, Shanghai, France. pp.2785-2791, ⟨10.1109/ICRA.2011.5980553⟩ |
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An Explicit Desingularization Procedure for General Nonholonomic Systems49th IEEE Conference on Decision and Control (CDC), Dec 2010, Atlanta, United States. ⟨10.1109/CDC.2010.5717402⟩ |
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Analysis of optimal control models for the human locomotion49th IEEE Conference on Decision and Control, Dec 2010, Atlanta, United States. 6 p., ⟨10.1109/cdc.2010.5717396⟩ |
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Asymptotic analysis of an optimal control problem connected to the human locomotion48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009, Dec 2009, Shanghai, China. pp.2248-2253, ⟨10.1109/CDC.2009.5400873⟩ |
A global steering method for general dynamical nonholonomic systems48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009, Dec 2009, Shanghai, China. pp.27-32, ⟨10.1109/CDC.2009.5400197⟩ |
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Singular trajectories of driftless and control-affine systems44th IEEE Conference on Decision and Control, Dec 2005, seville, Spain. 6 p., ⟨10.1109/cdc.2005.1582278⟩ |
A globally convergent steering algorithm for regular nonholonomic systems44th IEEE Conference on Decision and Control, 2005, Seville, France. pp.7514-7519, ⟨10.1109/CDC.2005.1583374⟩ |
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Measures of Sub-Riemannian Paths1st Junior European Conference on Control Theory and Stabilization, 2002, Dijon, France |
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The singular locus for the n-trailers car control system1995 34th IEEE Conference on Decision and Control, 1995, New Orleans, United States. pp.3869-3870, ⟨10.1109/CDC.1995.479204⟩ |
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Commande des SystèmesMaster. AUT201 - Commande des Systèmes, France. 2024 |
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Géométrie Différentielle et Application au Contrôle GéométriqueLicence. France. 2022 |
Complexités pour les systèmes non-holonomesOptimisation et contrôle [math.OC]. Université Pierre & Marie Curie - Paris 6, 1998. Français. ⟨NNT : ⟩ |
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Géométrie sous-riemannienne et contrôle non-linéaireOptimisation et contrôle [math.OC]. Université Pierre & Marie Curie - Paris 6, 2007 |