Thibaut Raharijaona

Identifiants chercheurs

IdHAL :

thibaut-raharijaona

ORCID :

0000-0002-7692-1872

IdRef :

086953230

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

Article dans une revue (14)

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 Ruffieret al. International Journal of Robust and Nonlinear Control, 2026, pp.1-21. ⟨10.1002/rnc.70418⟩ Article dans une revue hal-05543267v1
Static workspace validation incorporating friction on a suspended reconfigurable cable-driven robot Yanis Tadjouddine,Jean-François Antoine,Atal Anil Kumar,Thibaut Raharijaona Mechatronics, 2026, 117, pp.103522. ⟨10.1016/j.mechatronics.2026.103522⟩ Article dans une revue (article de synthèse) hal-05582873v1
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 Noureddineet al. Mechatronics, 2025, 110, pp.103360. ⟨10.1016/j.mechatronics.2025.103360⟩ Article dans une revue hal-05329265v1
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
Flying in air ducts Thomas Martin,Adrien Guénard,Vladislav Tempez,Lucien Renaud,Thibaut Raharijaonaet al. npj Robotics, 2025, 3 (16), ⟨10.1038/s44182-025-00032-5⟩ Article dans une revue hal-04775869v2
Indoor and outdoor in-flight odometry based solely on optic flows with oscillatory trajectories Lucia Bergantin,C Coquet,Jonathan Dumon,Amaury Nègre,Thibaut Raharijaonaet al. International Journal of Micro Air Vehicles, 2023, 15, ⟨10.1177/17568293221148380⟩ Article dans une revue hal-03931424v1
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
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
Local Positioning System Using Flickering Infrared LEDs Thibaut Raharijaona,Rodolphe Mawonou,Thanh Nguyen,Fabien Colonnier,Marc Boyronet al. Sensors, 2017, 17 (11), ⟨10.3390/s17112518⟩ Article dans une revue hal-01630782v1
A Shape-Adjusted Tridimensional Reconstruction of Cultural Heritage Artifacts Using a Miniature Quadrotor Theo Louiset,Anthony Pamart,Eloi Gattet,Thibaut Raharijaona,Livio De Lucaet al. Remote Sensing, 2016, 8 (10), pp.858. ⟨10.3390/rs8100858⟩ Article dans une revue hal-01454793v1
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
Sub-optimal Lunar Landing GNC using Non-gimbaled Bio-inspired Optic Flow Sensors Guillaume Sabiron,Thibaut Raharijaona,Laurent Burlion,Erwan Kervendal,Eric Bornschleglet 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
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

Communication dans un congrès (37)

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
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 Léonardet al. International Conference on Electrical and Computer Engineering Researches (ICECER'25), Dec 2025, Antananarivo, Madgascar, Madagascar Communication dans un congrès hal-05342442v1
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
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
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-05241327v2
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
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
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
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
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
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
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
Minimalistic in-flight odometry based on two optic flow sensors along a bouncing trajectory Lucia Bergantin,Charles Coquet,Amaury Nègre,Thibaut Raharijaona,Nicolas Marchandet 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
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
Using trajectory oscillation timing improves in-flight odometry based solely on optic flows Lucia Bergantin,Charles Coquet,Amaury Nègre,Raharijoana Thibault Raharijoana,Nicolas Marchandet al. IMAV 2022 - 13th international micro air vehicle conference (IMAV), Sep 2022, Delft, Netherlands Communication dans un congrès hal-03788528v2
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
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
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
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
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
Quaternion Modeling and Observer-based Torque Compensation of an Aerial Manipulator Jonatan Alavrez Muños,Juan Antonio Escareno,Nicolas Marchand,Jose Fermi Guerrero Castellanos,Thibaut Raharijaonaet 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
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
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
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
Backup State Observer Based on Optic Flow Applied to Lunar Landing Guillaume Sabiron,Laurent Burlion,Grégory Jonniaux,Erwan Kervendal,Eric Bornschleglet al. IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2014, Chicago, United States Communication dans un congrès hal-01021322v1
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
Event-based speed control on a sensor-less miniature thruster Thibaut Raharijaoana,Lorris Dola,Bruno Boisseau,John Jairo Martinez Molina,Nicolas Marchandet al. AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Jul 2014, Besançon, France. pp.n/c Communication dans un congrès hal-00982430v1
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
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
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
Toward an Autonomous Lunar Landing Based on Low-speed Optic Flow Sensors Guillaume Sabiron,Paul Chavent,Laurent Burlion,Erwan Kervendal,Eric Bornschleglet al. EuroGNC - 2nd CEAS Specialist Conference on Guidance, Navigation & Control, Apr 2013, Delft, Netherlands. pp.993-1011 Communication dans un congrès hal-00820225v1
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
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
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
Comments on actuator fault accommodation Thibaut Raharijaona,Rachid Outbib,Mustapha Ouladsine,Ghachem Sahbi Safeprocess, Jun 2009, Barcelona, Spain Communication dans un congrès hal-00830185v1

Chapitre d'ouvrage (3)

Insect inspired visual motion sensing and flying robots Thibaut Raharijaona,Lubin Kerhuel,Julien Serres,Frédéric Roubieu,Fabien Expertet al. Handbook of Biomimetics and Bioinspiration: 2 Electromechanical Systems, 2014, 978-981-435-4950. ⟨10.1142/9789814354936_0022⟩ Chapitre d'ouvrage hal-02294399v1
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
Toward an Autonomous Lunar Landing Based on Low-Speed Optic Flow Sensors Guillaume Sabiron,Paul Chavent,Laurent Burlion,Erwan Kervendal,Eric Bornschleglet 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

Pré-publication, Document de travail (3)

Axial Tilt And Torsion: An orientation representation for four-cable suspended parallel robots Cédric Frayard,Atal Anil Kumar,Jean-François Antoine,Thibaut Raharijaona 2026 Pré-publication, Document de travail hal-05583854v1
Panoramic optic-flow profile guiding aerial exploration through turns in simulated environments Xavier Daïni,Romain Raffin,Thibaut Raharijaona,Franck Ruffier 2025 Pré-publication, Document de travail hal-05374840v1
Underwater Netting Detection and Distance Estimation using Optic Flow Xavier Daïni,Loïck Degorre,Christophe Viel,Romain Raffin,Thibaut Raharijaonaet al. 2025 Pré-publication, Document de travail hal-05120953v1

Thèse (1)

Commande robuste pour l'assistance au contrôle latéral d'un véhicule routier Thibaut Raharijaoana Automatique. Université Paris Sud - Paris XI, 2004. Français. ⟨NNT : ⟩ Thèse tel-00721986v1

Vidéo (5)

Flying in air ducts Thomas Martin,Adrien Guénard,Vladislav Tempez,Lucien Renaud,Thibaut Raharijaonaet al. 2025 Vidéo hal-05111488v1
Netting detection with flight direction parallel to surface Xavier Daïni,Romain Raffin,Thibaut Raharijaona,Franck Ruffier 2025 Vidéo hal-05147469v1
Video S2 Netting detection with any flight direction Xavier Daïni,Romain Raffin,Thibaut Raharijaona,Franck Ruffier 2025 Vidéo hal-05147494v1
Video S4 Automatic Flight with OF-based netting detection Xavier Daïni,Romain Raffin,Thibaut Raharijaona,Franck Ruffier 2025 Vidéo hal-05147538v1
Video S3 NOWA Method Workflow Xavier Daïni,Romain Raffin,Thibaut Raharijaona,Franck Ruffier 2025 Vidéo hal-05147521v1