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Lotfi BEJI

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Documents

Présentation

University of Evry/Paris-Saclay IBISC Laboratory EA4526 40 Rue du Pelvoux, 91020 Evry I received the Dipl.-Ing. degree in electromechanical engineering from the "Ecole Nationale d'Ingénieur de Tunis", Tunisia, in 1992, master degree from the "Ecole Centrale de Nantes", France, in 1993, Dr.-Ing. degree from the "University of Evry Val d'Essonne", France, in 1997, and received the "Habilitation" degree from the "University of Evry Val d'Essonne", France, in 2009. After receiving the Doctoral degree, I worked like an Associate Professor at the UFRST Department and the Laboratory of Informatics, Biology and complex Systems (IBISC-EA4526). During the period 1994-1997, I worked in modeling and control of parallel robots, since 1998, my research was oriented towards the autonomous terrestrial and aerial vehicles, like blimps and quadrotors. I was invited by the Tunisian Ministry of Higher Education and Research Technology (SERST'2004 Program and MESRT'2007 Program). The current research axes are the problem of stability and consensus in networked dynamic systems, and the stability of drilling rods in tunneling (NEWTUN project, 2012-2016). I'm currently an Editorial Borad Member of the International Journal of Vehicle Autonomous Systems ([IJVAS](http://www.inderscience.com/browse/index.php?journalCODE=ijvas)) and an Editorial Borad Member of the International Journal of Vehicle Autonomous Systems ([IJVP](http://www.inderscience.com/browse/index.php?journalCODE=ijvp)). I was the Chair and organizer of [CISA'09](http://lsc.univ-evry.fr/cisa09/doku.php), and a [Special Issue](http://www.inderscience.com/browse/callpaper.php?callID=1158) Editor on: "Modelling and/or Control of Multi-Vehicle Formations", 2012. An expected special issue is currently in progress on: " Advances in Complex Systems and Their Control Principles" https://www.mdpi.com/journal/mathematics/special\_issues/Advances\_Complex\_Systems\_Their\_Control\_Principles I'm currently a co-organized of the “9th International Conference on Advances in Applied Mathematics” (ICAAM 2002, Djerba-Island, Tunisia): https://icaam-2022.sciencesconf.org/

Publications

Multi-Complex Robot Interaction with Homothetic Human Feedback in a Virtual Environment

Taha Houda , Ayman Beghdadi , Lotfi Beji , Ali Amouri
Sensors & Transducers., 2023, 261 (2), pp.15--24
Article dans une revue hal-04248920v1

DAM-SLAM: depth attention module in a semantic visual SLAM based on objects interaction for dynamic environments

Ayman Beghdadi , Malik Mallem , Lotfi Beji
Applied Intelligence, 2023, 53, pp.25802--25815. ⟨10.1007/s10489-023-04720-3⟩
Article dans une revue hal-04207452v1

Handiski simulator performance under PSO-based washout and control parameters optimization

Taha Houda , Lotfi Beji , Ali Amouri , Malik Mallem
Nonlinear Dynamics, 2022, 110, pp.649--667. ⟨10.1007/s11071-022-07626-w⟩
Article dans une revue hal-03719503v1
Image document

Reconstructed drill-bit motion for sonic drillstring dynamics

Kaïs Ammari , Lotfi Beji
European Journal of Control, 2019, ⟨10.1016/j.ejcon.2019.04.003⟩
Article dans une revue hal-02151646v1

Modeling of a heavy-lift airship carrying a payload by a cable-driven parallel manipulator

Fida Ben Abdallah , Naoufel Azouz , Lotfi Beji , Azgal Abichou
International Journal of Advanced Robotic Systems, 2019, 16 (4), pp.172988141986176. ⟨10.1177/1729881419861769⟩
Article dans une revue hal-02272027v1

Stability analysis of coupled torsional vibration and pressure in oilwell drillstring system

Samir Toumi , Lotfi Beji , Rhouma Mlayeh , Azgal Abichou
International Journal of Control, 2018, 91 (1), pp.241--252. ⟨10.1080/00207179.2016.1278269⟩
Article dans une revue hal-01456505v1
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Backstepping boundary observer based-control for hyperbolic PDE in rotary drilling system

Rhouma Mlayeh , Samir Toumi , Lotfi Beji
Applied Mathematics and Computation, 2018, 322, pp.66--78. ⟨10.1016/j.amc.2017.11.034⟩
Article dans une revue hal-01674970v1

A Method of Drilling a Ground Using a Robotic Arm

Lotfi Beji , Laredj Benchikh
International Journal of Mechanical and Mechatronics Engineering, 2017, 11 (11), pp.1793--1798
Article dans une revue hal-01735236v1

Stabilization of torsional vibration in oilwell drillstring system

Samir Toumi , Lotfi Beji , Rhouma Mlayeh , Azgal Abichou
European Journal of Control, 2017, 35, pp.19--27. ⟨10.1016/j.ejcon.2017.03.002⟩
Article dans une revue hal-01509237v1

Stabilizing control and human scale simulation of a submarine ROV navigation

Adel Khadhraoui , Lotfi Beji , Samir Otmane , Azgal Abichou
Ocean Engineering, 2016, 114 (1), pp.66--78. ⟨10.1016/j.oceaneng.2015.12.054⟩
Article dans une revue hal-01312758v1

Regulation control of multi-vehicle formation systems

Mohamed Anouar El Kamel , Lotfi Beji , Azgal Abichou
International Journal of Vehicle Autonomous Systems, 2012, 10 (4), pp.355--373. ⟨10.1504/IJVAS.2012.051271⟩
Article dans une revue hal-00761639v1
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Co-leaders and a flexible virtual structure based formation motion control

Asma Essghaier , Lotfi Beji , Mohamed Anouar El Kamel , Azgal Abichou , Jean Lerbet
International Journal of Vehicle Autonomous Systems, 2011, 9 (1-2), pp.108--125. ⟨10.1504/IJVAS.2011.038182⟩
Article dans une revue hal-00647351v1

Tracking controllers in various navigation planes of an unmanned aerial blimp

Azgal Abichou , Lotfi Beji , S. Samaali
International Journal of Vehicle Autonomous Systems, 2011, 9 (3-4), pp.297--315
Article dans une revue hal-00668048v1
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Control of a Drone: Study and Analysis of the Robustness

Kadda Zemalache , Lotfi Beji , Hichem Maaref
Journal of Automation, Mobile Robotics & Intelligent Systems, 2008, 2 (1), pp.33--42
Article dans une revue hal-00360723v1

Two Inertial Models of X4-Flyers Dynamics, Motion Planning and Control

Kadda Zemalache , Lotfi Beji , Hichem Maaref
Journal of the Integrated Computer-Aided Engineering, 2007, 14, pp.107--119
Article dans une revue hal-00342266v1
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An adaptive control method of automated vehicles with integrated longitudinal and lateral dynamics in road following

Lotfi Beji , Yasmina Bestaoui
IEEE Transaction On Intelligent Transportation Systems Council, 2005, 6, pp.113-123. ⟨10.1109/ROMOCO.2001.973455⟩
Article dans une revue hal-00342762v1

Streamlined Rotors Mini Rotorcraft: Trajectory Generation and Tracking

Lotfi Beji , Azgal Abichou
International Journal of Control, Automation and Systems, 2005, 3, pp.87--99
Article dans une revue hal-00342756v1

Tracking Control of Trim Trajectories of a Blimp for Ascent and Descent Flight

Lotfi Beji , Azgal Abichou
International Journal of Control, 2005, 78, pp.706--719
Article dans une revue hal-00342758v1
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CD-COCO: A Versatile Complex Distorted COCO Database for Scene-Context-Aware Computer Vision

Ayman Beghdadi , Azeddine Beghdadi , Malik Mallem , Lotfi Beji , Faouzi Alaya Cheikh
11th European Workshop on Visual Information Processing (EUVIP 2023), Sep 2023, Gjovik, Norway. pp.1-6, ⟨10.1109/EUVIP58404.2023.10323035⟩
Communication dans un congrès hal-04366877v1
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Complex Multi Robot Hybrid Platform for Augmented Virtual Skiing Immersion

Taha Houda , Ayman Beghdadi , Lotfi Beji , Ali Amouri
3rd IFSA Winter Conference on Automation, Robotics & Communications for Industry 4.0 / 5.0 (ARCI 2023), Feb 2023, Chamonix, France
Communication dans un congrès hal-04041782v1
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Benchmarking performance of object detection under images distortions of an uncontrolled environment

Ayman Beghdadi , Malik Mallem , Lotfi Beji
IEEE International Conference on Image Processing (ICIP 2022), Oct 2022, Bordeaux, France
Communication dans un congrès hal-03719611v1
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Dynamic Behavior of an Interactive XY -6 DoF Simulator for People with Reduced Mobility

Taha Houda , Lotfi Beji , Ali Amouri , Malik Mallem
4th IEEE Conference on Control Technology and Applications (CCTA 2020), Aug 2020, Montreal, Canada. pp.522--527, ⟨10.1109/CCTA41146.2020.9206265⟩
Communication dans un congrès hal-02879923v1
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Dynamic parameters optimization of a Gough-Stewart Platform mounted on a 2-DOF moving base

Taha Houda , Ali Amouri , Lotfi Beji , Malik Mallem
9th ECCOMAS Thematic Conference on Multibody Dynamics, Jul 2019, Duisburg, Germany
Communication dans un congrès hal-02299878v1

Dynamic Analysis and Control of a Flying Cable Driven Parallel Manipulator Mounted on an Airship

Fida Ben Abdallah , Naoufel Azouz , Lotfi Beji , Azgal Abichou
2019 IEEE Intelligent Transportation Systems Conference (ITSC 2019), Oct 2019, Auckland, New Zealand. pp.4489--4494, ⟨10.1109/ITSC.2019.8917202⟩
Communication dans un congrès hal-02415717v1

Torsional Vibration Suppression with Boundary Impulsive Conditions in Rotary Drilling System

Samir Toumi , Rhouma Mlayeh , Lotfi Beji
IEEE 58th Conference on Decision and Control (CDC 2019), Dec 2019, Nice, France. pp.995--1000, ⟨10.1109/CDC40024.2019.9029411⟩
Communication dans un congrès hal-02532609v1

Modeling and control of an aerial robocrane using a wire driven system

Fida Ben Abdallah , Naoufel Azouz , Lotfi Beji , Salim Hima , Azgal Abichou
Annual American Control Conference (ACC 2018), Jun 2018, Milwaukee, United States. pp.508--513, ⟨10.23919/ACC.2018.8431168⟩
Communication dans un congrès hal-04500528v1

Modeling and control of an airship-mounted crane for freight transportation

Fida Ben Abdallah , Salim Hima , Naoufel Azouz , Lotfi Beji , Azgal Abichou
15th IFAC Symposium on Control in Transportation Systems, Jun 2018, Savona, Italy. pp.452--457, ⟨10.1016/j.ifacol.2018.07.074⟩
Communication dans un congrès hal-01853842v1
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Modeling and stabilization of a cable-driven parallel platform suspended by an airship

Fida Ben Abdallah , Naoufel Azouz , Lotfi Beji , Azgal Abichou
11th International Workshop on Robot Motion and Control (RoMoCo 2017), Jul 2017, Wasowo, Poland. ⟨10.1109/RoMoCo.2017.8003892⟩
Communication dans un congrès hal-01625885v1

Exponential Stabilization of Torsional Vibrations in Rotary Drilling Systems

Samir Toumi , Lotfi Beji , Rhouma Mlayeh , Azgal Abichou
20th World Congress of the International Federation of Automatic Control, Jul 2017, Toulouse, France. pp.1565--1570, ⟨10.1016/j.ifacol.2017.08.310⟩
Communication dans un congrès hal-01629332v1

Boundary observer design for hyperbolic PDE in rotary drilling systems

Samir Toumi , Lotfi Beji , Rhouma Mlayeh , Azgal Abichou
55th IEEE Conference on Decision and Control (CDC 2016), Dec 2016, Las Vegas, United States. pp.2128--2133, ⟨10.1109/CDC.2016.7798578⟩
Communication dans un congrès hal-01465422v1

Analytical and numerical studies of sonic drillstring dynamics

Ibrahim Mnafeg , Azgal Abichou , Lotfi Beji
24th Mediterranean Conference on Control and Automation (MED 2016), Jun 2016, Athens, Greece. pp.814--819, ⟨10.1109/MED.2016.7535944⟩
Communication dans un congrès hal-01376138v1

Stabilization of stick-slip oscillations Integrating fluid injection in oilwell drillstring system

Samir Toumi , Lotfi Beji , Rhouma Mlayeh , Azgal Abichou
2016 European Control Conference (ECC 2016), Jun 2016, Aalborg, Denmark. pp.352--357, ⟨10.1109/ECC.2016.7810310⟩
Communication dans un congrès hal-01495690v1

Stabilizing control based observer for a remotely operated vehicle (ROV-observer)

Adel Khadhraoui , Lotfi Beji , Samir Otmane , Azgal Abichou
3rd International Conference on Control, Engineering and Information Technology (CEIT 2015), May 2015, Tlemcen, Algeria. (elec. proc.), ⟨10.1109/CEIT.2015.7233174⟩
Communication dans un congrès hal-01312808v1

Axial vibrations tracking control in resonant sonic tunnel drilling system

Khouloud Latrach , Lotfi Beji
54th IEEE Conference on Decision and Control (CDC 2015), Dec 2015, Osaka, Japan. pp.2495--2500, ⟨10.1109/CDC.2015.7402583⟩
Communication dans un congrès hal-01277200v1

Bottomhole pressure stabilizing observer-based controller in tunnel drilling system

Naim Zoghlami , Khouloud Latrach , Lotfi Beji
3rd International Conference on Control, Engineering and Information Technology (CEIT 2015), May 2015, Tlemcen, Algeria. (elec. proc.), ⟨10.1109/CEIT.2015.7233182⟩
Communication dans un congrès hal-01312764v1

Invariant sets in finite-time stability of multi-mobile robots

Lotfi Beji , Rhouma Mlayeh , Naim Zoghlami
2015 American Control Conference (ACC 2015), Jul 2015, Chicago, United States. pp.1059--1064, ⟨10.1109/ACC.2015.7170873⟩
Communication dans un congrès hal-01199180v1
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Robust control of remotely operated vehicle in the vertical plane

Adel Khadhraoui , Lotfi Beji , Samir Otmane , Azgal Abichou
13th International Conference on Control, Automation, Robotics and Vision (ICARCV 2014), Dec 2014, Marina Bay Sands, Singapore. pp.1098--1105, ⟨10.1109/ICARCV.2014.7064459⟩
Communication dans un congrès hal-01100531v1

Finite-time consensus of networked nonlinear systems under directed graph

Naim Zoghlami , Lotfi Beji , Rhouma Mlayeh , Azgal Abichou , Chaker Jammazi,
13th European Control Conference (ECC 2014), Jun 2014, Strasbourg, France. pp.546--551, ⟨10.1109/ECC.2014.6862423⟩
Communication dans un congrès hal-01092962v1

Observer-based controller design for remotely operated vehicle ROV

Adel Khadhraoui , Lotfi Beji , Samir Otmane , Azgal Abichou
11th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2014), Sep 2014, Vienna, Austria. pp.200--207
Communication dans un congrès hal-01088606v1
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Finite-time average consensus in networked dynamic systems

Naim Zoghlami , Lotfi Beji , Rhouma Mlayeh , Azgal Abichou
53rd IEEE Annual Conference on Decision and Control (CDC 2014), Dec 2014, Los Angeles, United States. pp.4485-4490, ⟨10.1109/CDC.2014.7040089⟩
Communication dans un congrès hal-01172701v1

Finite-time stabilization of interconnected nonlinear systems

Naim Zoghlami , Lotfi Beji , Rhouma Mlayeh , Azgal Abichou
2013 IEEE International Conference on Control Applications (CCA 2013), Aug 2013, Hyderabad, India. pp.1188--1193, ⟨10.1109/CCA.2013.6662913⟩
Communication dans un congrès hal-01011107v1

Finite-time consensus and stability of networked nonlinear systems

Naim Zoghlami , Lotfi Beji , Rhouma Mlayeh , Azgal Abichou
52nd IEEE Conference on Decision and Control (CDC 2013), Dec 2013, Florence, Italy. pp.6604--6609, ⟨10.1109/CDC.2013.6760934⟩
Communication dans un congrès hal-01016915v1
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Explicit homogeneous time-varying stabilizing control of a submarine vehicle (ROV)

Adel Khadhraoui , Lotfi Beji , Samir Otmane , Azgal Abichou
10th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2013), Jul 2013, Reykjavík, Iceland. pp.26--32
Communication dans un congrès hal-00879020v1

Local finite-time stability and stabilization analysis of interconnected systems

Naim Zoghlami , Lotfi Beji , Rhouma Mlayeh , Azgal Abichou
9th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2013), Sep 2013, Toulouse, France. pp.803--808, ⟨10.3182/20130904-3-FR-2041.00158⟩
Communication dans un congrès hal-00880278v1

The finite-time stability of perturbed systems

Naim Zoghlami , Lotfi Beji , Mlayah Rhouma , Azgal Abichou
IEEE Multi-conference on Systems and Control (MSC 2012), Oct 2012, Dubrovnik, Croatia. pp.1080--1085, ⟨10.1109/CCA.2012.6402364⟩
Communication dans un congrès hal-00761641v1

Geometric Viewpoint of Dynamics of Systems. Application to Control

Jean Lerbet , Asma Essghaier , Lotfi Beji , Azgal Abichou
the Engineering Mechanics Institute 2011, Jun 2011, Boston, MA, United States. pp.n.a
Communication dans un congrès hal-00653806v1

Robust planar position control of an autonomous airship

S. Samaali , Lotfi Beji , Azgal Abichou
14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2011), Sep 2011, Paris, France. pp.311--320
Communication dans un congrès hal-00880293v1
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A Strategy for Multi-Robot Navigation

Lotfi Beji , Mohamed Anouar El Kamel , Azgal Abichou
50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011), Dec 2011, Orlando, United States. pp.4214-4219, ⟨10.1109/CDC.2011.6160369⟩
Communication dans un congrès hal-00653812v1
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A decentralized formation control method including self-organization around a target

Mohamed Anouard El Kamel , Lotfi Beji , Azgal Abichou
9th IFAC Symposium on Robot Control (SyRoCo'09), Sep 2009, Gifu, Japan. ⟨10.3182/20090909-4-JP-2010.00061⟩
Communication dans un congrès hal-00653669v1

Trajectory Generation for a Formation of Mobile Robots via A Flexible Virtual Structure Approach

Mohamed Anouar El Kamel , Lotfi Beji , Jean Lerbet , Azgal Abichou
Twelfth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR'09), Sep 2009, Istanbul, Turkey. pp.819--826, ⟨10.1142/9789814291279_0100⟩
Communication dans un congrès hal-00653667v1
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Multi-vehicle consenus with target capturing and collision avoidance

Mohamed Anouar El Kamel , Lotfi Beji , Azgal Abichou
Twelfth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR'09), Sep 2009, Istanbul, Turkey. pp.827-834, ⟨10.1142/9789814291279_0101⟩
Communication dans un congrès hal-00653665v1

Flexible virtual consideration in modeling of mobile robot formations

Mohamed Anouar El Kamel , Lotfi Beji
2nd Mediterranean Conference on Intelligent Systems and Automation (CISA 2009), Mar 2009, Zarzis, Tunisia. pp.296--301, ⟨10.1063/1.3106489⟩
Communication dans un congrès hal-00663964v1
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Flexible Virtual Structure Consideration in Dynamic Modeling of Mobile Robots Formation

Asma Essghaier , Lotfi Beji , Jean Lerbet , Azgal Abichou
2nd Mediterranean Conference on Intelligent Systems and Automation (CISA 2009), Mar 2009, Zarzis, Tunisia. pp.296--301, ⟨10.1063/1.3106489⟩
Communication dans un congrès hal-00668050v1

A novel obstacle avoidance approach for mobile robot cooperation and target capturing

Mohamed Anouar El Kamel , Lotfi Beji , Azgal Abichou
2nd Mediterranean Conference on Intelligent Systems and Automation (CISA 2009), Mar 2009, Zarzis, Tunisia. pp.249--253, ⟨10.1063/1.3106481⟩
Communication dans un congrès hal-00663962v1

Nonholonomic mobile robots cooperative control for target capturing

Mozhdeh Kamel , Lotfi Beji , Azgal Abichou
INDICON 2008 IEEE Conference and Exhibition on Control, Communications and Automation, Dec 2008, Kanpur, India. pp.548--552
Communication dans un congrès hal-00870464v1

Self-Tunable Fuzzy Inference System: A comparative study for a drone

Hichem Maaref , Kadda Zemalache , Lotfi Beji
International Fuzzy Systems Association (IFSA), 2007, Cancun, Mexico. pp.780--789, ⟨10.1007/978-3-540-72432-2_78⟩
Communication dans un congrès hal-00342234v1

Motion Planning and Stabilisation of a X4 Bidirectional Rotors using a Neuro-Fuzzy Controller

Kadda Zemalache , Lotfi Beji , Hichem Maaref
9th International Symposium on Climbing and Walking Robots (CLAWAR 2006), 2006, Bruxels, Belgium. pp.n.a
Communication dans un congrès hal-00342267v1

Vision-based stabilization of the IDP flat output

Lotfi Beji , Azgal Abichou , Mohamed Anouar El Kamel
8th Internation Conference on CLimbing And WAlking Robots (CLAWAR 2005), 2005, London, United Kingdom. pp.221--228, ⟨10.1007/3-540-26415-9_26⟩
Communication dans un congrès hal-00342760v1

A Time-varying Feedback Law for Exponential Stabilization of a X4bidirectional rotors

Rajia Slim , Azgal Abichou , Lotfi Beji
8th Internation Conference on CLimbing And WAlking Robots (CLAWAR 2005), 2005, London, United Kingdom. pp.n.a
Communication dans un congrès hal-00342891v1

Smooth control of an X4 bidirectional rotors flying robot

Lotfi Beji , Azgal Abichou , Kadda Zemalache
RObot MOtion COntrol Workshop (ROMOCO 2005), 2005, Dymaczewo, Poland. pp.n.a
Communication dans un congrès hal-00342761v1
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Trajectory Generation and Tracking of a Mini-Rotorcraft

Lotfi Beji , Azgal Abichou
IEEE International Conference on Robotics and Automation (ICRA 2005), 2005, Barcelona, Spain. pp.2618-2623, ⟨10.1109/ROBOT.2005.1570508⟩
Communication dans un congrès hal-00342757v1

Backstepping Control Technique: Application to an Under-Actuated X4-Flyer

Kadda Zemalache , Lotfi Beji , Hichem Maaref
International Conference on Computer Systems and Information Technology (ICSIT 2005), 2005, Alger, Algeria. pp.151--156
Communication dans un congrès hal-00342268v1

Control of an under-actuated system: Application to a four rotors rotorcraft

Kadda Zemalache , Lotfi Beji , Hichem Maaref
5th International Conference on Robotics and Biomimetics (ROBIO 2005), 2005, Hong Kong, China. pp.404--409, ⟨10.1109/ROBIO.2005.246301⟩
Communication dans un congrès hal-00342270v1

Tracking-control investigation of two X4-flyers

Kadda Zemalache , Lotfi Beji , Hichem Maaref
2nd International Conference on Informatics in Control, Automation and Robotics, (ICINCO 2005), 2005, Spain. pp.16--23
Communication dans un congrès hal-00342269v1
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Dynamic Parameters Optimization and Identification of a Parallel Robot

Taha Houda , Ali Amouri , Lotfi Beji , Malik Mallem
Andrés Kecskeméthy; Francisco Geu Flores. Multibody Dynamics 2019, 53, Springer, pp.367-374, 2019, Computational Methods in Applied Sciences, 978-3-030-23131-6
Chapitre d'ouvrage hal-02180507v1

Modeling, Motion Planning and Control of the Drones with Revolving Airfoils: an Outline of the XSF Project

Lotfi Beji , Azgal Abichou , Naoufel Azouz
Robot Motion and Control, Springer Berlin / Heidelberg, pp.165--177, 2006, Lecture Notes in Control and Information Sciences
Chapitre d'ouvrage hal-00342759v1

Modelling and control of small autonomous airships

Yasmina Bestaoui , Lotfi Beji , Azgal Abichou
Castillo, P. and Lozano, R. and Dzul, A. Modelling and control of mini flying machines, Springer Berlin / Heidelberg, pp.165--183, 2005, Advances in Industrial Control, ⟨10.1007/1-84628-179-2_8⟩
Chapitre d'ouvrage hal-00342790v1