Olivier Kermorgant

51
Documents
Affiliations actuelles
  • Laboratoire des Sciences du Numérique de Nantes (LS2N)
  • École Centrale de Nantes (ECN)
  • Autonomie des Robots et Maîtrise des interactions avec l’ENvironnement (LS2N - équipe ARMEN)
Contact

Publications

Publications

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Assessment and mitigation of the effects of waves and wind gusts on power production of an energy ship

Giovanni Juin-Gauthier , Aurélien Babarit , Olivier Kermorgant , Baptiste Elie , Vincent Frémont

Ocean Engineering, 2026, 349, pp.124133. ⟨10.1016/j.oceaneng.2025.124133⟩

Article dans une revue hal-05451165v1
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Determination of All Stable and Unstable Equilibria for Image-Point-Based Visual Servoing

Alessandro Colotti , Jorge García Fontán , Alexandre Goldsztejn , Sébastien Briot , François Chaumette et al.

IEEE Transactions on Robotics, 2024, 40, pp.3406-3424. ⟨10.1109/TRO.2024.3422050⟩

Article dans une revue hal-04628273v1
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Multi-Sensor-Based Predictive Control For Autonomous Parking

David Pérez-Morales , Olivier Kermorgant , Salvador Domínguez-Quijada , Philippe Martinet

IEEE Transactions on Robotics, 2022, 38 (2), pp.835-851. ⟨10.1109/TRO.2021.3091285⟩

Article dans une revue hal-03286432v1
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Cooperative multi-robot object transportation system based on hierarchical quadratic programming

Daravuth Koung , Olivier Kermorgant , Isabelle Fantoni , Lamia Belouaer

IEEE Robotics and Automation Letters, 2021, 6 (4), pp.6466-6472. ⟨10.1109/LRA.2021.3092305⟩

Article dans une revue hal-03289793v1
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Complete Singularity Analysis for the Perspective-Four-Point Problem

Beatriz Pascual-Escudero , Abhilash Nayak , Sébastien Briot , Olivier Kermorgant , Philippe Martinet et al.

International Journal of Computer Vision, 2021, 129 (4), pp.1217-1237. ⟨10.1007/s11263-020-01420-0⟩

Article dans une revue hal-03070525v1
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Platooning of Car-like Vehicles in Urban Environments: An Observer-based Approach Considering Actuator Dynamics and Time delays

Ahmed Khalifa , Olivier Kermorgant , Salvador Dominguez , Philippe Martinet

IEEE Transactions on Intelligent Transportation Systems, 2020, 22 (9), pp.5684 - 5696. ⟨10.1109/TITS.2020.2988948⟩

Article dans une revue hal-02545680v1
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Platooning of Car-like Vehicles in Urban Environments: Longitudinal Control Considering Actuator Dynamics, Time Delays, and Limited Communication Capabilities

Ahmed Khalifa , Olivier Kermorgant , Salvador Dominguez , Philippe Martinet

IEEE Transactions on Control Systems Technology, 2020, ⟨10.1109/TCST.2020.3044786⟩

Article dans une revue hal-03081731v1
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Integrating Features Acceleration in Visual Predictive Control

Franco Fusco , Olivier Kermorgant , Philippe Martinet

IEEE Robotics and Automation Letters, 2020, pp.5197-5204. ⟨10.1109/LRA.2020.3004793⟩

Article dans une revue hal-02877155v1
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A magnetic climbing robot to perform autonomous welding in the shipbuilding industry

Olivier Kermorgant

Robotics and Computer-Integrated Manufacturing, 2018, 53, ⟨10.1016/j.rcim.2018.04.008⟩

Article dans une revue hal-01767609v1
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Dealing with constraints in sensor-based robot control

Olivier Kermorgant , François Chaumette

IEEE Transactions on Robotics, 2014, 30 (1), pp.244-257. ⟨10.1109/TRO.2013.2281560⟩

Article dans une revue hal-00855724v1
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Towards underwater docking through teaching-by-showing

Nesrine Karboua , Olivier Kermorgant

Oceans, IEEE, Jun 2025, Brest, France

Communication dans un congrès hal-05026269v1
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Waves filtering in heading controllers: impact on the power production of an energy ship

Giovanni Juin-Gauthier , Aurélien Babarit , Baptiste Elie , Olivier Kermorgant , Vincent Frémont

IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles, IFAC, Sep 2024, Blacksburg, Virginia, United States

Communication dans un congrès hal-04595833v2
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Investigating the Performances of Control Parameterizations for Nonlinear Model Predictive Control

Franco Fusco , Guillaume Allibert , Olivier Kermorgant , Philippe Martinet

17th International Conference on Control, Automation, Robotics and Vision, Dec 2022, Singapore, Singapore. ⟨10.1109/ICARCV57592.2022.10004335⟩

Communication dans un congrès hal-03812458v1
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Super-Twisting Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator

Hardy Bin Anuar , Franck Plestan , Abdelhamid Chriette , Olivier Kermorgant

16th International Workshop on Variable Structure Systems, Sep 2022, Rio de Janeiro, Brazil

Communication dans un congrès hal-03749293v1
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A Gazebo Simulator for Continuum Parallel Robots

Andrea Gotelli , Federico Zaccaria , Olivier Kermorgant , Sébastien Briot

18th International Symposium on Advances in Robot Kinematics (ARK 2022), Jun 2022, Bilbao, Spain

Communication dans un congrès hal-03594927v1
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Benchmarking Nonlinear Model Predictive Control with Input Parameterizations

Franco Fusco , Guillaume Allibert , Olivier Kermorgant , Philippe Martinet

International Conference on Methods and Models in Automation and Robotics, Aug 2022, Miedzyzdroje, Poland

Communication dans un congrès hal-03701390v2
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Experimental validation of a dynamic model of energy ships

Baptiste Elie , Olivier Kermorgant , Aurelien Babarit , Vincent Fremont , Juin-Gauthier Giovanni

25e Congrès Français de Mécanique, Nantes, Aug 2022, Nantes, France

Communication dans un congrès hal-04280190v1
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Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator

Hardy Azmir Anuar , Franck Plestan , Abdelhamid Chriette , Olivier Kermorgant

International Conference on Advanced Robotics, Dec 2021, Ljubljana, Slovenia

Communication dans un congrès hal-03445938v1
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Consensus-based formation control and obstacle avoidance for nonholonomic multi-robot system

Daravuth Koung , Isabelle Fantoni , Olivier Kermorgant , Lamia Belouaer

International Conference on Control, Automation, Robotics and Vision (ICARCV), Dec 2020, Shenzhen, China. ⟨10.1109/ICARCV50220.2020.9305426⟩

Communication dans un congrès hal-02933732v1
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Integrating Features Acceleration in Visual Predictive Control

Franco Fusco , Olivier Kermorgant , Philippe Martinet

IROS 2020 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2020, Las Vegas / Virtual, United States. ⟨10.1109/CCTA41146.2020.9206269⟩

Communication dans un congrès hal-02909462v1
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Multi-Sensor-Based Predictive Control for Autonomous Parking in Presence of Pedestrians

David Pérez-Morales , Olivier Kermorgant , Salvador Domínguez-Quijada , Philippe Martinet

ICARCV 2020 - 16th International Conference on Control, Automation, Robotics and Vision, Dec 2020, Shenzhen, China. ⟨10.1109/icarcv50220.2020.9305465⟩

Communication dans un congrès hal-02933694v1
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Vehicles Platooning in Urban Environments: Integrated Consensus-based Longitudinal Control with Gap Closure Maneuvering and Collision Avoidance Capabilities

Ahmed Khalifa , Olivier Kermorgant , Salvador Dominguez , Philippe Martinet

ECC19 - European Control Conference, Jun 2019, Naples, Italy. pp.1695-1701, ⟨10.23919/ecc.2019.8795940⟩

Communication dans un congrès hal-02057396v1
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An Observer-based Longitudinal Control of Car-like Vehicles Platoon Navigating in an Urban Environment

Ahmed Khalifa , Olivier Kermorgant , Salvador Dominguez , Philippe Martinet

CDC 2019 - 58th IEEE Conference on Decision and Control, Dec 2019, Nice, France. pp.5735-5741, ⟨10.1109/cdc40024.2019.9029187⟩

Communication dans un congrès hal-02273504v1
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A Comparison of Visual Servoing from Features Velocity and Acceleration Interaction Models

Franco Fusco , Olivier Kermorgant , Philippe Martinet

IROS 2019 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2019, Macau, China. ⟨10.1109/iros40897.2019.8967710⟩

Communication dans un congrès hal-02183760v1
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Improving Relaxation-based Constrained Path Planning via Quadratic Programming

Franco Fusco , Olivier Kermorgant , Philippe Martinet

International Conference on Intelligent Autonomous Systems, Jun 2018, Baden-Baden, Germany. ⟨10.1007/978-3-030-01370-7_2⟩

Communication dans un congrès hal-01790061v1
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Vehicles Platooning in Urban Environment: Consensus-based Longitudinal Control with Limited Communications Capabilities

Ahmed Khalifa , Olivier Kermorgant , Salvador Dominguez , Philippe Martinet

International Conference on Control, Automation, Robotics and Vision, Nov 2018, Singapore, Singapore. ⟨10.1109/icarcv.2018.8581142⟩

Communication dans un congrès hal-01866884v1
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Efficient Decentralized Collaborative Mapping for Outdoor Environments

Luis F Contreras-Samamé , Olivier Kermorgant , Philippe Martinet

International Conference on Robotic Computing, Jan 2018, Laguna Hills, United States. ⟨10.1109/irc.2018.00017⟩

Communication dans un congrès hal-01689868v1
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CoMapping: Efficient 3D-Map Sharing Methodology for Decentralized cases

Luis F Contreras-Samamé , Salvador Dominguez-Quijada , Olivier Kermorgant , Philippe Martinet

10th workshop on Planning, Perception and Navigation for Intelligent Vehicles at Int. Conf. on Intelligent Robots and Systems, Oct 2018, Madrid, Spain

Communication dans un congrès hal-01867720v1
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Constrained Path Planning using Quadratic Programming

Franco Fusco , Olivier Kermorgant , Philippe Martinet

IROS 2018 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2018, Madrid, Spain. ⟨10.1109/iros.2018.8593373⟩

Communication dans un congrès hal-01867331v1
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Laser-Based Control Law For Autonomous Parallel And Perpendicular Parking

David Pérez-Morales , Olivier Kermorgant , Salvador Domínguez-Quijada , Philippe Martinet

International Conference on Robotic Computing, Jan 2018, Laguna Hills, United States. ⟨10.1109/irc.2018.00018⟩

Communication dans un congrès hal-01689875v1
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Multi-Sensor-Based Predictive Control for Autonomous Backward Perpendicular and Diagonal Parking

David Pérez-Morales , Salvador Dominguez-Quijada , Olivier Kermorgant , Philippe Martinet

10th workshop on Planning, Perception and Navigation for Intelligent Vehicles at Int. Conf. on Intelligent Robots and Systems, Oct 2018, Madrid, Spain

Communication dans un congrès hal-01867303v1
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Automatic Perpendicular and Diagonal Unparking Using a Multi-Sensor-Based Control Approach

David Pérez-Morales , Olivier Kermorgant , Salvador Dominguez-Quijada , Philippe Martinet

ICARCV 2018 - The 15 th International Conference on Control, Automation, Robotics and Vision, Nov 2018, Singapore, Singapore. ⟨10.1109/icarcv.2018.8581237⟩

Communication dans un congrès hal-01874140v1
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CoMapping: Multi-robot Sharing and Generation of 3D-Maps applied to rural and urban scenarios

Luis F Contreras-Samamé , Salvador Dominguez-Quijada , Olivier Kermorgant , Philippe Martinet

International Conference on Control, Automation, Robotics and Vision, Nov 2018, Singapore, Singapore. ⟨10.1109/icarcv.2018.8581058⟩

Communication dans un congrès hal-01867743v1
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Robust Range-Only Mapping via Sum-of-Squares Polynomials

Lionel Génevé , Adlane Habed , Edouard Laroche , Olivier Kermorgant

IFAC 2017 World Congress, Jul 2017, Toulouse, France. ⟨10.1016/j.ifacol.2017.08.1598⟩

Communication dans un congrès hal-01689833v1
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Limits of Trilateration-Based Sensor Placement Algorithms

Lionel Génevé , Édouard Laroche , Olivier Kermorgant

Sensors Applications Symposium (SAS), Mar 2017, Glassboro, United States. ⟨10.1109/sas.2017.7894120⟩

Communication dans un congrès hal-01689857v1
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Autonomous Perpendicular And Parallel Parking Using Multi-Sensor Based Control

David Pérez-Morales , Olivier Kermorgant , Salvador Domínguez-Quijada , Philippe Martinet

9th Workshop on Planning, Perception and Navigation for Intelligent Vehicles at IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Sep 2017, Vancouver, Canada

Communication dans un congrès hal-01689850v1

Keynote on Sensor based navigation

Philippe Martinet , Gaëtan Garcia , Salvador Dominguez-Quijada , Olivier Kermorgant

8th Workshop on Planning, Perception and Navigation for Intelligent Vehicles A bridge between Robotics and ITS technologies, Nov 2016, Rio de Janeiro, Brazil

Communication dans un congrès hal-02459137v1
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Autonomous parking using a sensor based approach

David Pérez-Morales , Salvador Domínguez-Quijada , Olivier Kermorgant , Philippe Martinet

8th Workshop on Planning, Perception and Navigation for Intelligent Vehicles at IEEE Int. Conf. on Intelligent Transportation Systems, IEEE, Nov 2016, Rio de Janeiro, Brazil

Communication dans un congrès hal-01396998v1
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A Composite Beacon Initialization for EKF Range-Only SLAM

Lionel Génevé , Olivier Kermorgant , Edouard Laroche

IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Sep 2015, Hamburg, Germany

Communication dans un congrès hal-01219746v1
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A dynamic simulator for underwater vehicle-manipulators

Olivier Kermorgant

International Conference on Simulation, Modeling, and Programming for Autonomous Robots Simpar, Oct 2014, Bergamo, Italy

Communication dans un congrès hal-01065812v2
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Partial visibility constraint in 3D visual servoing

Olivier Kermorgant

IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'13, Nov 2013, Tokyo, Japan

Communication dans un congrès hal-00857690v2
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A global control scheme for free-floating vehicle-manipulators

Olivier Kermorgant , Yvan R. Petillot , Matt Dunnigan

IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'13, Nov 2013, Tokyo, Japan

Communication dans un congrès hal-00857692v2
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Maintaining visibility constraints during tele-echography with ultrasound visual servoing

Tao Li , Olivier Kermorgant , Alexandre Krupa

IEEE Int. Conf. on Robotics and Automation, May 2012, Saint Paul, United States. pp.4856-4861

Communication dans un congrès hal-00748987v2
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Combining IBVS and PBVS to ensure the visibility constraint

Olivier Kermorgant , F. Chaumette

IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'11, 2011, San Francisco, USA, United States. pp.2849-2854

Communication dans un congrès hal-00639683v1
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Multi-sensor data fusion in sensor-based control: application to multi-camera visual servoing

Olivier Kermorgant , F. Chaumette

IEEE Int. Conf. on Robotics and Automation, ICRA'11, 2011, Shanghai, China, China. pp.4518-4523

Communication dans un congrès hal-00639682v1
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Avoiding joint limits with a low-level fusion scheme

Olivier Kermorgant , F. Chaumette

IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'11, 2011, San Francisco, USA, United States. pp.768-773

Communication dans un congrès hal-00639684v1
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A new sensor self-calibration framework from velocity measurements

Olivier Kermorgant , David Folio , François Chaumette

IEEE Int. Conf. on Robotics and Automation, ICRA'10, 2010, Anchorage, Alaska, United States. pp.1524-1529

Communication dans un congrès inria-00544787v1
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Cable-Driven Parallel Robot Simulation Using Gazebo and ROS

Franklin Okoli , Yuchuan Lang , Olivier Kermorgant , Stéphane Caro

In: Arakelian V., Wenger P. (eds) ROMANSY 22 - Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences (Courses and Lectures), vol. 584, Springer, Cham., pp.288-295, 2019, 978-3-319-78962-0. ⟨10.1007/978-3-319-78963-7_37⟩

Chapitre d'ouvrage hal-02405560v1