Thibaut Raharijaona

61
Documents

Présentation

Professeur en robotique

Université de Lorraine – LCFC (Laboratoire Conception, Fabrication, Commande)

Recherche en commande de robots : robots parallèles à câbles (CDPR), robotique aérienne et collaboration humain-robot, avec une ouverture vers l’IA

Publications

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Publications

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Robust Adaptive Control for Fully Actuated Hexa-Rotors Without Precise Knowledge of Rotor Poses

Alejandro Flore , Andres Montes de Oca , Jean-Baptiste Mouret , Thibaut Raharijaona , Franck Ruffier et al.

International Journal of Robust and Nonlinear Control, 2026, pp.1-21. ⟨10.1002/rnc.70418⟩

Article dans une revue hal-05543267v1
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Robotized Incremental Sheet Forming trajectory control using deep neural network for force/torque compensator and task-space error tracking controller

Xuan Dung To , Sandra Zimmer-Chevret , Ghinwa Ouaidat , Thibaut Raharijaona , Farid Noureddine et al.

Mechatronics, 2025, 110, pp.103360. ⟨10.1016/j.mechatronics.2025.103360⟩

Article dans une revue hal-05329265v1
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Netting and Background Distinction with In-Flight Optic Flow

Xavier Daïni , Romain Raffin , Thibaut Raharijaona , Franck Ruffier

Journal of Bionic Engineering, 2025, 22 (3), pp.1143-1166. ⟨10.1007/s42235-025-00677-w⟩

Article dans une revue hal-04966013v3
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Flying in air ducts

Thomas Martin , Adrien Guénard , Vladislav Tempez , Lucien Renaud , Thibaut Raharijaona et al.

npj Robotics, 2025, 3 (16), ⟨10.1038/s44182-025-00032-5⟩

Article dans une revue hal-04775869v2
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Indoor and outdoor in-flight odometry based solely on optic flows with oscillatory trajectories

Lucia Bergantin , C Coquet , Jonathan Dumon , Amaury Nègre , Thibaut Raharijaona et al.

International Journal of Micro Air Vehicles, 2023, 15, ⟨10.1177/17568293221148380⟩

Article dans une revue hal-03931424v1
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Oscillations make a self-scaled model for honeybees' visual odometer reliable regardless of flight trajectory

Lucia Bergantin , Nesrine Harbaoui , Thibaut Raharijaona , Franck Ruffier

Journal of the Royal Society Interface, 2021, 18 (182), pp.20210567. ⟨10.1098/rsif.2021.0567⟩

Article dans une revue hal-03358332v1
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A Three-Photo-Detector Optical Sensor Accurately Localizes a Mobile Robot Indoors by Using Two Infrared Light-Emitting Diodes

Evandro Bernardes , Stéphane Viollet , Thibaut Raharijaona

IEEE Access, 2020, 8, pp.87490-87503. ⟨10.1109/ACCESS.2020.2992996⟩

Article dans une revue hal-02865963v1
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Local Positioning System Using Flickering Infrared LEDs

Thibaut Raharijaona , Rodolphe Mawonou , Thanh Nguyen , Fabien Colonnier , Marc Boyron et al.

Sensors, 2017, 17 (11), ⟨10.3390/s17112518⟩

Article dans une revue hal-01630782v1
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A Shape-Adjusted Tridimensional Reconstruction of Cultural Heritage Artifacts Using a Miniature Quadrotor

Theo Louiset , Anthony Pamart , Eloi Gattet , Thibaut Raharijaona , Livio De Luca et al.

Remote Sensing, 2016, 8 (10), pp.858. ⟨10.3390/rs8100858⟩

Article dans une revue hal-01454793v1
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Event-Switched Control Design with Guaranteed Performances

Bruno Boisseau , John Jairo Martinez Molina , Thibaut Raharijaona , Sylvain Durand , Nicolas Marchand

International Journal of Robust and Nonlinear Control, 2016, 27 (15), pp.2492-2509. ⟨10.1002/rnc.3692⟩

Article dans une revue hal-01376050v1
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Sub-optimal Lunar Landing GNC using Non-gimbaled Bio-inspired Optic Flow Sensors

Guillaume Sabiron , Thibaut Raharijaona , Laurent Burlion , Erwan Kervendal , Eric Bornschlegl et al.

IEEE Transactions on Aerospace and Electronic Systems, 2015, IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, 51 (4), pp.2525 - 2545. ⟨10.1109/TAES.2015.130573⟩

Article dans une revue hal-01270504v1
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HyperCube: A Small Lensless Position Sensing Device for the Tracking of Flickering Infrared LEDs

Thibaut Raharijaona , Paul Mignon , Raphaël Juston , Lubin Kerhuel , Stephane Viollet

Sensors, 2015, 15 (7), pp.16484-16502. ⟨10.3390/s150716484⟩

Article dans une revue hal-01414074v1

Lateral driving assistance using robust control and embedded driver-vehicle-road model

Said Mammar , Thibaut Raharijaoana , Sébastien Glaser , Gilles Duc

Vehicle System Dynamics, 2005, 41, pp.311-320

Article dans une revue hal-01630821v1
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Étude mécanique de l'équilibre d'une plateforme robotique sous-actionnée par une approche énergétique

Cédric Frayard , Jean-François Antoine , Atal Anil Kumar , Thibaut Raharijaona

26ème Congrès Français de Mécanique (CFM 2025), AFM - Association Française de Mécanique; LEM3 - Laboratoire d'Étude des Microstructures et de Mécanique des Matériaux; LEMTA - Laboratoire d'Energétique et de Mécanique Théorique et Appliquée; ENSAM - Ecole Nationale Supérieure d'Arts et Métiers; CNRS - Centre national de la recherche scientifique, Aug 2025, Metz, France

Communication dans un congrès hal-05312982v2
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Friction identification in suspended cable-driven robots using current-controlled actuation and force sensing

Thibaut Raharijaona , Fanomezantsoa Botozara , Tadjou-Junor Yanis Tadjouddine , Cédric Frayard , François Léonard et al.

International Conference on Electrical and Computer Engineering Researches (ICECER'25), Dec 2025, Antananarivo, Madgascar, Madagascar

Communication dans un congrès hal-05342442v1
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Compact docking for precise indoor drone landing

Thomas Martin , Jefferson Roman Blanco , Jean-Baptiste Mouret , Thibaut Raharijaona

26ème Congrès Français de Mécanique (CFM 2025), Laboratoire d'Etude des Microstructures et de Mécanique des Matériaux (LEM3 - UMR CNRS 7239); Laboratoire Energies et Mécanique Théorique et Appliquée (LEMTA); Université de Lorraine; CNRS; Arts et Métiers ParisTech, Aug 2025, Metz, France

Communication dans un congrès hal-05312914v1
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Shaping a deformable object within a human-robot collaborative framework

Racha Ghaddar , Adrien Koessler , Mourad Benoussaad , Thibaut Raharijaona

26éme Congrès Français de Mécanique (CFM 2025), Aug 2025, Metz, France

Communication dans un congrès hal-05241327v1
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Toward an incremental Anderson-Darling algorithm for drift detection on cable-driven robots

Sylvain Chabanet , Tadjou-Junor Yanis Tadjouddine , Jean-François Antoine , Atal Anil Kumar , Thibaut Raharijaona

MECATRONICS-REM 2025, Dec 2025, Paris, France

Communication dans un congrès hal-05442568v1
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Improving static workspace of a suspended cable-driven robot

Tadjou-Junor Yanis Tadjouddine , Jean-François Antoine , Atal Anil Kumar , Thibaut Raharijaona

26ème Congrès Français de Mécanique (CFM 2025), AFM - Association Française de Mécanique; LEM3 - Laboratoire d'Étude des Microstructures et de Mécanique des Matériaux; LEMTA - Laboratoire d'Energétique et de Mécanique Théorique et Appliquée; ENSAM - Ecole Nationale Supérieure d'Arts et Métiers; CNRS - Centre national de la recherche scientifique, Aug 2025, Metz - (57070), France

Communication dans un congrès hal-05175951v1

Human Robot Collaborative Manipulation of a Deformable Object

Racha Ghaddar , Adrien Koessler , Hadrien Courtecuisse , Mourad Benoussaad , Thibaut Raharijaona

2ème congrès annuel de la SAGIP, Campus Lyon Tech-la Doua; INSA Lyon, avec le soutien de l'Université Claude Bernard Lyon 1; Université Lumière Lyon 2; Ecole Centrale Lyon, May 2024, INSA Lyon, France

Communication dans un congrès hal-04604837v1

Robot Parallèle à Câbles Reconfigurable pour la Culture Hydroponique sous Serre

Tadjou-Junor Yanis Tadjouddine , Jean-François Antoine , Atal Anil Kumar , Thibaut Raharijaona

2ème congrès annuel de la SAGIP, Campus Lyon Tech-la Doua; INSA Lyon, avec le soutien de l'Université Claude Bernard Lyon 1; Université Lumière Lyon 2; Ecole Centrale Lyon, May 2024, Villeurbanne, France

Communication dans un congrès hal-04605008v1
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Compact docking station for sub-150g UAV indoor precise landing

Thomas Martin , Jefferson Roman Blanco , Jean-Baptiste Mouret , Thibaut Raharijaona

2024 International Conference on Unmanned Aircraft Systems (ICUAS 2024), ICUAS; Technical University of Crete; Region of Crete, Jun 2024, Chania - Crete, Greece. pp.1267-1274, ⟨10.1109/ICUAS60882.2024.10557124⟩

Communication dans un congrès hal-04638203v1
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Mobile Attachment Points on a Reconfigurable Cable-Driven Parallel Robot : A Study of Workspace

Atal Anil Kumar , Jean-François Antoine , Vianney Papot , Gabriel Abba , Thibaut Raharijaona

SAGIP MARSEILLE 2023, Aix-Marseille Université, Jun 2023, Marseille (FR), France

Communication dans un congrès hal-04188536v1
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Safety Net Detection by Optic Flow Processing

Xavier Daini , Charles Coquet , Romain Raffin , Thibaut Raharijaona , Franck Ruffier

2023 International Conference on Unmanned Aircraft Systems (ICUAS ’23), Kimon Valavanis; Anna Konert; YangQuan Chen; Andrea Monteriù, Jun 2023, Warsaw, Poland. pp.32-39, ⟨10.1109/ICUAS57906.2023.10156597⟩

Communication dans un congrès hal-04139578v1

Teleoperated aerial manipulator and its avatar. Communication, system's interconnection, and virtual world

Germán Ramírez , Thibaut Raharijaona , Gerardo Flores

SAGIP Marseille 2023 (1er Congrès annuel de la SAGIP, 2023), Jun 2023, Marseile, France

Communication dans un congrès hal-04436737v1
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Offline approach towards obstacle avoidance in collaborative robots

Carlos Wilfrido Ponce Quiroga , T Raharijaona , Gabriel Abba

25e Congrès Français de Mécanique (CFM 2022), Association Française de Mécanique (AFM); Centrale Nantes; Université de Nantes; ENSAM d'Angers; Ecole Navale de Brest; Université de La Rochelle, Aug 2022, Nantes, France

Communication dans un congrès hal-03889904v1
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Towards wood dust collection during robotic grooving

Y. Dong , A. Bouali , N. Mechbal , Laurent Bléron , Thibaut Raharijaona

IEEE 10th International Conference on Systems and Control (ICSC), Nov 2022, Marseille, France. pp.477-481, ⟨10.1109/ICSC57768.2022.9993943⟩

Communication dans un congrès hal-03889915v1
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Minimalistic in-flight odometry based on two optic flow sensors along a bouncing trajectory

Lucia Bergantin , Charles Coquet , Amaury Nègre , Thibaut Raharijaona , Nicolas Marchand et al.

ICCAS 2022 - 22nd IEEE International Conference on Control, Automation and Systems (ICCAS), Nov 2022, Busan, South Korea. ⟨10.23919/ICCAS55662.2022.10003956⟩

Communication dans un congrès hal-03791733v1
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Using trajectory oscillation timing improves in-flight odometry based solely on optic flows

Lucia Bergantin , Charles Coquet , Amaury Nègre , Raharijoana Thibault Raharijoana , Nicolas Marchand et al.

IMAV 2022 - 13th international micro air vehicle conference (IMAV), Sep 2022, Delft, Netherlands

Communication dans un congrès hal-03788528v2
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Robot parallèle à 4 câbles ludique pour les activités pédagogiques

Vianney Papot , David Mawunyo Amedonouh , Jean-François Antoine , Gabriel Abba , Thibaut Raharijaona

6èmes Journées démonstrateurs en Automatique, Jun 2022, Angers, France

Communication dans un congrès hal-03757305v1
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Load-dependent Friction Laws of Three Models of Harmonic Drive Gearboxes Identified by Using a Force Transfer Diagram

Carlos Wilfrido Ponce Quiroga , Gabriel Abba , Jean-François Antoine , Thibaut Raharijaona , Philippe Garrec

12th International Conference on Mechanical and Aerospace Engineering (ICMAE 2021), Jul 2021, Athens (on line), Greece. pp.239-244, ⟨10.1109/ICMAE52228.2021.9522368⟩

Communication dans un congrès hal-03292998v1
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Construction d’une maquette de lévitation magnétique pour un aimant de quelques milligrammes

Thibaut Raharijaona , Marc Boyron , Stéphane Viollet

Colloque de l'Enseignement des Technologies et des Sciences de l'Information et des Systèmes (CETSIS 2021), Jun 2021, Valenciennes, France

Communication dans un congrès hal-03293157v1
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Estimation of the distance from a surface based on local optic flow divergence

Lucia Bergantin , Thibaut Raharijaona , Franck Ruffier

2021 International Conference On Unmanned Aircraft Systems (ICUAS'21), Jun 2021, Athens, Greece. ⟨10.1109/ICUAS51884.2021.9476751⟩

Communication dans un congrès hal-03293482v1
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Bird-inspired foot and limb for perching drones preliminary considerations

Damien Horsin , Anick Abourachid , Micky Rakotondrabe , Franck Ruffier , Thibaut Raharijaona

International Workshop on Bionic Engineering - IWBE, Jun 2020, Manchester, United Kingdom. pp.1-2

Communication dans un congrès hal-03103963v1
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Quaternion Modeling and Observer-based Torque Compensation of an Aerial Manipulator

Jonatan Alavrez Muños , Juan Antonio Escareno , Nicolas Marchand , Jose Fermi Guerrero Castellanos , Thibaut Raharijaona et al.

MICNON 2018 - 2nd IFAC Conference on Modelling, Identification and Control of Nonlinear, Jun 2018, Jalisco, Mexico. pp.543-548, ⟨10.1016/j.ifacol.2018.07.336⟩

Communication dans un congrès hal-03053030v2
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Toward an insect-inspired event-based autopilot combining both visual and control events

Thibaut Raharijaona , Julien Serres , E Vanhoutte , Franck Ruffier

International Conference on Event-Based Control, Communication and Signal Processing, May 2017, Funchal, Portugal. ⟨10.1109/EBCCSP.2017.8022822⟩

Communication dans un congrès hal-01528589v1

Generalized disturbance estimation via ESLKF for the motion control of rotorcraft having a rod-suspended load

Juan Antonio Escareño , Assia Belbachir , Thibaut Raharijaona , Samia Bouchafa

13th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2016), Jul 2016, Lisbon, Portugal. pp.526--533

Communication dans un congrès hal-01482244v1
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Event-based visual guidance inspired by honeybees in a 3D tapered tunnel

Julien Serres , T Raharijaona , E Vanhoutte , F Ruffier

Second International Conference on Event-Based Control, Communication and Signal Processing EBCCSP 2016, Jun 2016, Krakow, Poland, France. ⟨10.1109/EBCCSP.2016.7605273⟩

Communication dans un congrès hal-01332819v1
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Attitude control of a gyroscope actuator using event-based discrete-time approach

Bruno Boisseau , Sylvain Durand , John Jairo Martinez Molina , Thibaut Raharijaona , Nicolas Marchand

EBCCSP 2015 - 1st IEEE Conference on Event-Based Control Communication and Signal Processing, Jun 2015, Krakow, Poland. ⟨10.1109/EBCCSP.2015.7300677⟩

Communication dans un congrès hal-01166201v1
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Event-based speed control on a sensor-less miniature thruster

Thibaut Raharijaoana , Lorris Dola , Bruno Boisseau , John Jairo Martinez Molina , Nicolas Marchand et al.

AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Jul 2014, Besançon, France. pp.n/c

Communication dans un congrès hal-00982430v1
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Backup State Observer Based on Optic Flow Applied to Lunar Landing

Guillaume Sabiron , Laurent Burlion , Grégory Jonniaux , Erwan Kervendal , Eric Bornschlegl et al.

IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2014, Chicago, United States

Communication dans un congrès hal-01021322v1
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Optic Flow-Based Nonlinear Control and Sub-optimal Guidance for Lunar Landing

Guillaume Sabiron , Laurent Burlion , Thibaut Raharijaona , Franck Ruffier

IEEE International Conference on Robotics and Biomimetics, Dec 2014, Bali, Indonesia

Communication dans un congrès hal-01079488v1
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Event-Based {LQR} with Integral Action

Sylvain Durand , Bruno Boisseau , John Jairo Martinez Molina , Nicolas Marchand , Thibaut Raharijaoana

ETFA 2014 - EBS 2014 - 19th IEEE International Conference on Emerging Technologies and Factory Automation - Workshop on Event-Based Systems, Sep 2014, Barcelone, Spain. 7 p

Communication dans un congrès hal-01067100v1
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Low-speed optic-flow sensor onboard an unmanned helicopter flying outside over fields

Guillaume Sabiron , Paul Chavent , Thibaut Raharijaona , Patrick Fabiani , Franck Ruffier

IEEE ICRA - IEEE International Conference on Robotics and Automation, May 2013, Karlsruhe, Germany

Communication dans un congrès hal-00820264v1
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A tiny lensless position sensing device for the tracking of active markers

Thibaut Raharijaona , Paul Mignon , Raphaël Juston , Stéphane Viollet

REDUAS - 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems-2013, Nov 2013, Compiègne, France

Communication dans un congrès hal-00910804v2
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Toward an Autonomous Lunar Landing Based on Low-speed Optic Flow Sensors

Guillaume Sabiron , Paul Chavent , Laurent Burlion , Erwan Kervendal , Eric Bornschlegl et al.

EuroGNC - 2nd CEAS Specialist Conference on Guidance, Navigation & Control, Apr 2013, Delft, Netherlands. pp.993-1011

Communication dans un congrès hal-00820225v1
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From bees’ surface following to lunar landing

Franck Ruffier , Geoffrey Portelli , Julien Serres , Thibaut Raharijaona , Nicolas Franceschini

International Workshop on Bio-inspired Robots, Apr 2011, Nantes, France

Communication dans un congrès hal-02194478v1
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Robust control for an off-centered quadrotor

Thibaut Raharijaoana , François Bateman

19th Mediterranean Conference on Control & Automation (MED), Jun 2011, Corfu, Greece. ⟨10.1109/MED.2011.5983171⟩

Communication dans un congrès hal-00830136v1
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Robust stabilization of thermal behavior for PEM Fuel Cell

Thibaut Raharijaoana , Abdelkrim Salah , Rachid Outbib

International Conference on Renewable Energy: Generation and Applications, Mar 2010, Al Ain, United Arab Emirates

Communication dans un congrès hal-00830225v1
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Comments on actuator fault accommodation

Thibaut Raharijaona , Rachid Outbib , Mustapha Ouladsine , Ghachem Sahbi

Safeprocess, Jun 2009, Barcelona, Spain

Communication dans un congrès hal-00830185v1
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Insect inspired visual motion sensing and flying robots

Thibaut Raharijaona , Lubin Kerhuel , Julien Serres , Frédéric Roubieu , Fabien Expert et al.

Handbook of Biomimetics and Bioinspiration: 2 Electromechanical Systems, 2014, 978-981-435-4950. ⟨10.1142/9789814354936_0022⟩

Chapitre d'ouvrage hal-02294399v1
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Bio-inspired Landing Approaches and Their Potential Use On Extraterrestrial Bodies

Thibaut Raharijaoana , Guillaume Sabiron , Stéphane Viollet , Nicolas Franceschini , Franck Ruffier

Springer Verlag Berlin Heidelberg. Viorel Badescu, Springer Verlag Berlin Heidelberg, pp.221-246, 2013, 978-3642392436

Chapitre d'ouvrage hal-00858087v1
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Toward an Autonomous Lunar Landing Based on Low-Speed Optic Flow Sensors

Guillaume Sabiron , Paul Chavent , Laurent Burlion , Erwan Kervendal , Eric Bornschlegl et al.

Advances in Aerospace Guidance, Navigation and Control, Springer, pp.681 - 699, 2013, 978-3-642-38253-6. ⟨10.1007/978-3-642-38253-6_39⟩

Chapitre d'ouvrage istex hal-01079728v1