Olivier Kermorgant

Publications

Article dans une revue (10)

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
Determination of All Stable and Unstable Equilibria for Image-Point-Based Visual Servoing Alessandro Colotti,Jorge García Fontán,Alexandre Goldsztejn,Sébastien Briot,François Chaumetteet al. IEEE Transactions on Robotics, 2024, 40, pp.3406-3424. ⟨10.1109/TRO.2024.3422050⟩ Article dans une revue hal-04628273v1
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
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
Complete Singularity Analysis for the Perspective-Four-Point Problem Beatriz Pascual-Escudero,Abhilash Nayak,Sébastien Briot,Olivier Kermorgant,Philippe Martinetet al. International Journal of Computer Vision, 2021, 129 (4), pp.1217-1237. ⟨10.1007/s11263-020-01420-0⟩ Article dans une revue hal-03070525v1
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
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
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
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
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

Communication dans un congrès (37)

Towards underwater docking through teaching-by-showing Nesrine Karboua,Olivier Kermorgant Oceans, IEEE, Jun 2025, Brest, France Communication dans un congrès hal-05026269v1
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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

Poster de conférence (1)

Application of Model Predictive Control to reconfigurable propulsion AUVs for task-based adaptation Yannick Noe,Enrik Sina,Olivier Chocron,Patrick Henaff,Olivier Kermorgant JT GDR LIRMM 2025, May 2025, Montpellier, France Poster de conférence hal-05097740v1

Chapitre d'ouvrage (1)

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

Thèse (1)

Fusion d'informations multi-capteurs en asservissement visuel Olivier Kermorgant Robotique [cs.RO]. Université Rennes 1, 2011. Français. ⟨NNT : ⟩ Thèse tel-00747052v1

HDR (1)

Contributions à la commande des robots autonomes Olivier Kermorgant Robotique [cs.RO]. Nantes Université, 2025 HDR tel-05444139v1