Rodolfo Orjuela
Présentation
I am full professor in automatic control at the Université de Haute-Alsace (Mulhouse, France). I am also affiliated to the IRIMAS (MIAM team). I received a first Master in Artificial Intelligence, Pattern recognition and Robotics from the Paul Sabatier University (Toulouse, France) in 2004 and a second Master in Automatic control from the University of Bordeaux (France) in 2005. In 2008, I received a Ph.D. degree in Automatic Control and Signal Processing from the Institut National Polytechnique de Lorraine (INPL-Nancy, France). My Ph.D. thesis, prepared at the Centre de Recherche en Automatique de Nancy CRAN, is entitled: A contribution to the state estimation and fault diagnosis of systems represented by multiple-models (Contribution à l'estimation d'état et au diagnostic des systèmes représentés par des multimodèles Download the French version). My current research interests at the IRIMAS (MIAM team) concern the hierarchical and generic control laws applied to the automated guidance of on-ground vehicles. The study cases are particularly automotive and aircraft vehicles. Additionally, the control law reconfiguration and the fault tolerant control (FTC) are also of my interest. These works are meanly based-on Predictive Control, Control Allocation and Linear Parameter Varying Systems. My teaching activities at the ENSISA (National Engineering School) deal with lectures on System Modelling using Bond-Graph and SysML approaches on the one hand and Adaptive Control and Multiplr-model control on the other hand. These last lectures are also proposed to the MASTER 2 EEA students. Besides, I am responsible of the Automatic Control Experimental Lab. of undergraduate Automatic Control courses at the ENSISA. The list of my publications is available here. My publications are available in open-access at the French national server of open files HAL or by e-mail request.PhD, Post-doc & MS advising
PhD in progress
Former PhD students
Former Post-Doc collaborators
Former MS students
Publications
Publications
Le véhicule à conduite automatisée : entre rupture et transition technologiqueL’interculturalité au service des transitions. Repenser la vie et l’éducation de l’humain dans l’époque de l’Anthropocène, 2024, 9782875748317. ⟨10.3726/b22195⟩ |
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A Comparative Simulation Study of Localization Error Models for Autonomous NavigationRecent Developments in Model-Based and Data-Driven Methods for Advanced Control and Diagnosis, 467, Springer Nature Switzerland, pp.189-200, 2023, Studies in Systems, Decision and Control, ⟨10.1007/978-3-031-27540-1_17⟩ |
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A Cooperative Centralized MPC for Collision Avoidance of a Fleet of AVsRecent Developments in Model-Based and Data-Driven Methods for Advanced Control and Diagnosis, 467, Springer Nature Switzerland, pp.297-307, 2023, Studies in Systems, Decision and Control, ⟨10.1007/978-3-031-27540-1_26⟩ |
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Robust Control of a Customized Lane Change ManeuverRecent Developments in Model-Based and Data-Driven Methods for Advanced Control and Diagnosis, 467, Springer Nature Switzerland, pp.343-353, 2023, Studies in Systems, Decision and Control, ⟨10.1007/978-3-031-27540-1_30⟩ |
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SIMPHA Experience: Contribution to new mobility solutions for people with reduced mobility in the Upper Rhine contextSustainability research in the Upper Rhine region, 2019, 2-86820-549-6 |
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Polytopic models for observer and fault-tolerant control designsOlfa Boubaker and Quanmin Zhu and Magdi S. Mahmoud and José Ragot and Hamid Reza Karimi and Jorge Dávila. New Trends in Observer-based Control: An Introduction to Design Approaches and Engineering Applications, 1, Academic Press, pp.295-335, 2019, 978-0-12-817038-0. ⟨10.1016/B978-0-12-817038-0.00009-3⟩ |
Cooperative Aerial-Ground Vehicle Rendezvous with Integrated Obstacle Avoidance2025 11th International Conference on Control, Decision and Information Technologies (CODIT), Jul 2025, Split, Croatia |
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Un défi transfrontalier de robotique mobile : préparation, organisation et retour d'expérienceColloque de l'Enseignement des Technologies et des Sciences de l'Information et des Systèmes (CETSIS), Jun 2025, Perpignan, France |
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Centralized Distance-based MPC Strategy for Local Formation Tracking of a Multi-Robot Fleet2025 11th International Conference on Control, Decision and Information Technologies (CoDIT), Jul 2025, Split, Croatia. pp.1739-1744, ⟨10.1109/CoDIT66093.2025.11321622⟩ |
A Generalized Formulation for Safe Obstacle Avoidance Maneuvers in Autonomous Vehicles2025 Stuttgart International Symposium, Jul 2025, Stuttgart, France. ⟨10.4271/2025-01-0285⟩ |
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Comparaison d'approches de navigation en formation pour une flotte de robots mobiles2e congrès de la SAGIP, 2024, Lyon, France |
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Navigation robuste aux problèmes de réception GPS : localisation visuelle embarquée et contrôle adapté aux discontinuités de localisationCongrès National de la Recherche des IUT, Mar 2024, Mulhouse, France |
Comparaison d'allocations pour la commande longitudinale d’un véhicule tout-terrain sur-actionné2e congrès de la SAGIP, 2024, Lyon, France |
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Safe Lane Change Aborting Maneuver for Autonomous VehicleIEEE 32nd Mediterranean Conference on Control and Automation (MED), 2024, Chania, Greece |
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Control allocation in the presence of actuator dynamics and limitationsMED 2024, Jun 2024, Chania, Greece. pp.777-782, ⟨10.1109/MED61351.2024.10566185⟩ |
Optimizing Control Allocation Using Daisy-Chaining Kalman FilterJournées du Comité Technique Automatique et Transports Terrestres (CT-ATT), 2023, Mulhouse, France |
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How Does the Definition of Tracking Errors Affect the Behavior of Vehicle Lateral Control?2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC), Sep 2023, Bilbao, Spain. pp.2640-2645, ⟨10.1109/ITSC57777.2023.10422708⟩ |
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Daisy Chaining Kalman Filter Control Allocation9TH INTERNATIONAL CONFERENCE ON CONTROL, DECISION AND INFORMATION TECHNOLOGIES ( CODIT 2023 ), Jul 2023, Rome, Italy |
Framework for a Reactive Overtaking Maneuver in a Personalized Driving Strategy on Rural Roads1er Congrès Annuel de la Société Française d’Automatique de Génie Industriel et de Productique, Jun 2023, Marseille, France |
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A personalized path generation for an autonomous vehicle overtaking maneuver11th IFAC Symposium on Intelligent Autonomous Vehicles - IAV2022, Jul 2022, Prague, Czech Republic |
Control Allocation for a 4-in-wheel-motored Electric Vehicle: Longitudinal caseJournées de printemps de la SAGIP 2022, 2022, Bidart, France |
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Positioning and Attitude determination for Precision Agriculture Robots based on IMU and Two RTK GPSs Sensor Fusion7th IFAC Conference on Sensing, Control and Automation Technologies for Agriculture AGRICONTROL 2022, Sep 2022, Munich (Allemagne), France. pp.60-65, ⟨10.1016/j.ifacol.2022.11.115⟩ |
Génération de trajectoires personnalisées pour une manoeuvre de dépassement dans le cadre d’une conduite autonomeJournées de printemps de la SAGIP 2022, 2022, Bidart, France |
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Longitudinal Vehicle Control Based on Off-Road Tire Model for Soft Soil Applications6th IFAC Conference on Engine and Powertrain Control, Simulation and Modeling, Aug 2021, Tokyo, Japan |
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Coordinated AFS and DYC for autonomous vehicle steerability and stability enhancementIFAC World Congress, Jul 2020, Berlin, Germany. pp.14248-14253 |
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Enseigner les réseaux en EEA : approche par ludificationColloque de l'Enseignement des Technologies et des Sciences de l'Information et des Systèmes, CETSIS 2021, Jun 2021, Valenciennes, France |
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From a classic Renault Twizy towards a low cost autonomous car prototype: a proof of conceptIFAC World Congress, Jul 2020, Berlin, Germany. pp.15161-15166, ⟨10.1016/j.ifacol.2020.12.2083⟩ |
Collision Avoidance for Autonomous Vehicle Using MPC and Time Varying Sigmoid Safety Constraints6th IFAC Conference on Engine and Powertrain Control, Simulation and Modeling, Aug 2021, Tokyo, Japan |
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Trajectory Reference Generation and Guidance Control for Autonomous Vehicle Lane Change ManeuverIEEE Mediterranean Conference on Control and Automation, Sep 2020, Saint-Raphaël, France. ⟨10.1109/MED48518.2020.9183082⟩ |
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Coordinated AFS and DYC for autonomous vehicle steerability and stability enhancementIFAC World Congress, Jul 2020, Berlin, Germany |
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Characterization of the impact of visual odometry drift on the control of an autonomous vehicle2020 IEEE Intelligent Vehicles Symposium (IV), Oct 2020, Las Vegas, United States. pp.2037-2043, ⟨10.1109/IV47402.2020.9304687⟩ |
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Robust Control Design for Electrically Driven High-Pressure Pumps Using H-Infinity Approach with Joint Shaping FunctionsEuropean Control Conference (ECC), Jun 2019, Naples, Italy |
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Direct yaw control based on a phase plan decomposition for enhanced vehicle stability10th IFAC Symposium on Intelligent Autonomous Vehicles, Jul 2019, Gdansk, Poland |
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Extended Validation of a Graph-Based Modelling Methodology for High-Pressure NetworksJoint 8th IFAC Symposium on Mechatronic Systems and 11th IFAC Symposium on Nonlinear Control Systems, Sep 2019, Vienna, Austria |
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Obstacle Avoidance, Path Planning and Control for Autonomous Vehicles2019 IEEE Intelligent Vehicles Symposium, Jun 2019, Paris, France |
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Multi-criteria stability combination for yaw stability control of autonomous vehicles9th IFAC International Symposium on Advances in Automotive Control, Jun 2019, Orléans, France |
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Smooth Obstacle Avoidance Path Planning for Autonomous Vehicles20th IEEE International Conference on Vehicular Electronics and Safety (ICVES), Sep 2018, Madrid, Spain |
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Emergency Autonomous Vehicle Guidance Under Steering LossIEEE Intelligent Vehicles Symposium 2018, Jun 2018, Chang Shu, China |
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A Comparison of Two Guidance Strategies for Autonomous VehiclesIFAC 2017 World Congress, Jul 2017, Toulouse, France. ⟨10.1016/j.ifacol.2017.08.2192⟩ |
Die Brücke, l’école d’été pour traverser le pont entre l’expérience et le savoir expérientiel dans un contexte de travail en équipe interculturelleCETSIS2017 , May 2017, Le Mans, France |
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Implementation of a Robust Cruise Control Using Look-Ahead Method8th IFAC Symposium Advances in Automotive Control, AAC 2016, Jun 2016, Kolmarden Wildlife Resort, Sweden |
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Robust Hinf desing of an antomotive cruise control systemIFAC Workshop on Engine and Powertrain Control, Simulation and Modeling, E-COSM'15, Aug 2015, Columbus, United States |
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Animation: stand commun de robotiqueFête de la science, Mar 2015, Mulhouse, France |
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Allocation de commande duale pour la stabilisation latérale d’un véhiculeJAA, Journées Automatique et Automobile (2015-11-03, 2015-11-05), Nov 2015, Bordeaux, France |
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LPV-based Control Design of an Adaptive Cruise Control System for Road Vehicles8th IFAC Symposium on Robust Control Design, IFAC, Jul 2015, Bratislava, Slovenia |
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Control of air pressure inside an inflatable textile pocket of an active backrest cushion19th World Congress of the International Federation of Automatic Control, Aug 2014, Cape Town, South Africa |
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Trois prototypes de véhicules pour faire rouler les enseignements à l’ENSISA : un retour d’expérienceCETSIS2014 : Enseignement des Technologies et des Sciences de l'Information et des Systèmes, Oct 2014, Besançon, France. pp.20-25 |
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Des maths au véhicule autonome, un tour d’horizon !Conférence au lycée Théodore DECK (2014-01-30: Guebwiller, France), Jan 2014, Guebwiller, France |
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Dual-mode Control Allocation for Integrated Chassis Stabilization19th World Congress of the International Federation of Automatic Control, Aug 2014, Cape Town, South Africa |
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Débat autour du film « Entre de bonnes mains : mon robot assistant », un film scientifique de Peter Ford Dominey (2012)Fête de la science (2014: Colmar, France), 2014, Colmar, France |
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Véhicule autonome et communication inter-véhiculeSéminaire "Mobilités", UHA (2013-10-02: Mulhouse, France), Oct 2013, Mulhouse, France |
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Nouvelles stratégies de commande couplée longitudinale et latérale de véhicules automobiles5èmes Journées Doctorales / Journées Nationales MACS (2013-07-11, 2013-07-12: Strasbourg, France), Jul 2013, Strasbourg, France |
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La place des Robots LEGO dans l'enseignement supérieur : un retour d'expérience dans trois contextes différentsCETSIS2013 : Enseignement des Technologies et des Sciences de l'Information et des Systèmes, Mar 2013, Caen, France. pp.273-278 |
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Réalisation d'un véhicule hybride à partir d'un véhicule grand public4èmes Journées Démonstrateurs en Automatique, Jun 2013, Angers, France. pp.CD |
Reference Generation and Control Strategy for Automated Vehicle Guidance2012 IEEE Intelligent Vehicles Symposium, Jun 2012, Alcalá de Henares,, Spain. pp.389-394 |
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Commande couplée longitudinale et latérale pour le guidage d'un véhicule autonomeConférence Internationale Francophone d'Automatique (CIFA2012), Jul 2012, Grenoble, France. pp.835-840 |
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Longitudinal Control for Automated Vehicle Guidance2012 IFAC Workshop on Engine and Powertrain Control, Simulation and Modeling (ECOSM12), Oct 2012, Rueil-Malmaison, France. pp.85-91 |
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Coupled longitudinal and lateral control strategy improving lateral stability for autonomous vehicle2012 American Control Conference, Jun 2012, Montréal, Canada. pp.6509-6514 |
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Pecha Kucha : Le véhicule autonomeNuit des chercheurs (2012-09-28: Toulouse, France), Sep 2012, Toulouse, France |
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Commande prédictive non linéaire pour le guidage d'un véhicule autonomeJournées Automatique et Automobile, JAA'11, Jul 2011, Bordeaux, France. pp.00 |
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An active fault-tolerant control schema for delayed systems18th IFAC World Congress, Aug 2011, Milano, Italy. pp.5442-5447 |
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Diagnostic des systèmes non linéaires par une approche multimodèleSixième Conférence Internationale Francophone d'Automatique, CIFA 2010, Jun 2010, Nancy, France. pp.CDROM |
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Fault diagnosis for nonlinear systems represented by heterogeneous multiple modelsConference on Control and Fault-Tolerant Systems, SysTol'10, Oct 2010, Nice, France. pp.CDROM, ⟨10.1109/SYSTOL.2010.5675969⟩ |
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Robust PI observer design for hybrid heterogeneous multiple models with delayed measurements3rd IFAC Conference on Analysis and Design of Hybrid Systems, ADHS'09, Sep 2009, Zaragoza, Spain. pp.CDROM, ⟨10.3182/20090916-3-ES-3003.00068⟩ |
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Observer design for nonlinear systems described by multiple models7th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, Safeprocess 2009, Jun 2009, Barcelona, Spain. pp.CDROM, ⟨10.3182/20090630-4-ES-2003.00003⟩ |
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State estimation of nonlinear systems based on heterogeneous multiple models: Some recent theoretical results7th Workshop on Advanced Control and Diagnosis, ACD'2009, Nov 2009, Zielona Gora, Poland. pp.CDROM |
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Une approche multimodèle pour le diagnostic des systèmes non linéaires2ème Workshop Surveillance, Sûreté et Sécurité des Grands Systèmes, 3SGS'09, Jun 2009, Nancy, France. pp.CDROM |
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Design of robust Hinf observers for nonlinear systems using a multiple model17th IFAC World Congress, Jul 2008, Seoul, South Korea. pp.2756-2761, ⟨10.3182/20080706-5-KR-1001.00464⟩ |
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Conception d'observateurs robustes pour des systèmes non linéaires incertains : une stratégie multimodèle5ème Conférence Internationale Francophone d'Automatique, CIFA'2008, Sep 2008, Bucarest, Roumanie. pp.CDROM |
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Estimating the state and the unknown inputs of nonlinear systems using a multiple model approach16th Mediterranean Conference on Control and Automation, MED'08, Jun 2008, Ajaccio, France. pp.1375-1380, ⟨10.1109/MED.2008.4602077⟩ |
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Proportional-Integral Observer Design for Nonlinear Uncertain Systems Modelled by a Multiple Model Approach47th IEEE Conference on Decision and Control, CDC'08, Dec 2008, Cancun, Mexico. pp.3577-3582, ⟨10.1109/CDC.2008.4739298⟩ |
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Conception d'un observateur PI pour un multimodèle découplé8ème conférence internationale des Sciences et Techniques de l'Automatique, STA'2007, Nov 2007, Sousse, Tunisie. pp.CDROM |
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A decoupled multiple model approach for state estimation of nonlinear systems subject to delayed measurements3rd IFAC Workshop on Advanced Fuzzy and Neural Control, AFNC 2007, Oct 2007, Valenciennes, France. pp.CDROM |
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Estimation d'état des systèmes non linéaires par une approche multimodèle découplé2èmes Journées Doctorales / Journées Nationales MACS, JD-JN-MACS, Jul 2007, Reims, France. pp.CDROM |
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State estimation of nonlinear discrete-time systems based on the decoupled multiple model approach4th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2007, May 2007, Angers, France. pp.CDROM |
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PI observer design for discrete-time decoupled multiple models5th Workshop on Advanced Control and Diagnosis, ACD 2007, Nov 2007, Grenoble, France. pp.CDROM |
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Prise en compte des conditions initiales lors de la simulation de fonctions de transfert non entièresConférence Internationale Francophone d'Automatique, CIFA'2006, May 2006, Bordeaux, France. pp.CDROM |
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Nonlinear system identification using uncoupled state multiple-model approachWorkshop on Advanced Control and Diagnosis, ACD'2006, Nov 2006, Nancy, France. pp.CDROM |
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Identification des systèmes non linéaires par une approche multi-modèle à états découplésJournées Identification et Modélisation Expérimentale JIME'2006, Nov 2006, Poitiers, France. pp.CDROM |
Recherche de conditions de stabilité pour l’optimisation de paramètres pour des modèles cinétiques biologiquesEcole thématique et doctorale du GdR MACS (2013-07-09, 2013-07-12: Strasbourg, France), Jul 2013, Strasbourg, France. 2013 |
A LPV lateral control architecture for off-road vehicle applicationsInstitut de Recherche en Informatique, Mathématiques, Automatique et Signal (IRIMAS) UR7499. 2024 |
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Contribution à l'estimation d'état et au diagnostic des systèmes représentés par des multimodèlesAutomatique / Robotique. Institut National Polytechnique de Lorraine - INPL, 2008. Français. ⟨NNT : 2008INPL060N⟩ |