Publications

• Article dans une revue

Fixed-Time VFO Control Design for Nonholonomic Mobile Robots With Constrained Control Inputs

Rafał Mateusz Sobański, Maciej Marcin Michałek, Michael Defoort

IEEE Transactions on Cybernetics, 2025, 55 (7), pp.3038-3050. ⟨10.1109/TCYB.2025.3564036⟩. ⟨hal-05642760⟩

• Communication dans un congrès

Human Digital Twin: from a Skillful Manipulator to a Trusted Cooperative Partner

Marie-Pierre Pacaux-Lemoine, Emmanuelle Grislin-Le Strugeon

In current Cyber-Physical Systems, especially in Human-AI teams, the integration of Human Digital Twins raises several ethical concerns. To ensure fruitful completeness between human and technology, the design of the system must include representations of the human needs, abilities and acceptance.…

11th IFAC Conference on Manufacturing Modelling, Management and Control (IFAC MIM2025), Jun 2025, Trondheim, Norway. ⟨hal-05237294⟩

• Poster de conférence

Optimisation de la recharge d’une flotte de véhicules autonomes, approche décentralisée (SMA), Charging optimization for a fleet of autonomous vehicles, decentralized approach (MAS)

Mathis Crinchon, Alaa Daoud, Emmanuel Adam, René Mandiau

Les véhicules électriques se démocratisent, et les technologies de véhicules autonomes nous permettront, dans un avenir proche, de nous passer en grande partie des conducteurs. Les flottes de véhicules autonomes verront alors le jour et devront se confronter à la problématique de leur coordination…, Electric vehicles are becoming increasingly widespread, and autonomous vehicle technologies will, in the near future, allow us to do largely without drivers. Fleets of autonomous vehicles will then emerge and will have to address the issue of their coordination in order to optimize vehicle flows at…

Journées Francophones sur les Systèmes Multi-Agents 2025, Jun 2025, Dijon, France. ⟨hal-05587771⟩

• Poster de conférence

Crowdsourcing and resource sharing for the last mile logistics

Oussama Dribel

The last-mile logistics industry, especially in Morocco, faces unique challenges such as urban congestion and other operational issues that require efficient and cost-effective solutions. To tackle these challenges, emerging paradigms like crowdsourcing and the sharing economy are proving to be…

2ᵉ édition de la Journée de la Recherche de l'École Centrale Casablanca, Jun 2025, Casablanca, Morocco. ⟨hal-05753726⟩

• Communication dans un congrès

A robust sliding mode controller for nonlinear systems with mismatched perturbations

Marco Arteaga, Emmanuel Moulay, Michael Defoort

<div xmlns="http://www.tei-c.org/ns/1.0"><p>For many control systems the presence of perturbations may decrease performance, so that their rejection has been an area of active research for the last decades. Roughly speaking, there are two kind of perturbations, those which are…

2025 European Control Conference (ECC), Jun 2025, Thessaloniki, France. pp.1225-1230, ⟨10.23919/ECC65951.2025.11186980⟩. ⟨hal-05321957⟩

• Communication dans un congrès

An ℋ ∞ Approach for Human Torque Estimation and Assistive Robot Rehabilitation via LMI-based Convex Techniques

Jorge Ibarra, Kaouther Moussa, Jimmy Lauber

Interest in assistive robots for rehabilitation purposes has raised due to the increase of people affected by motor impairment. An important challenge in this context is the interaction between user and robot to realize a cooperative task, where knowing the participation of the patient is crucial…

2025 European Control Conference (ECC), Jun 2025, Thessaloniki, Greece. pp.1569-1574, ⟨10.23919/ECC65951.2025.11186967⟩. ⟨hal-05685937⟩

• Communication dans un congrès

Quadrotor State Estimation and Control Through a Novel qLPV Model For MPC and MHE

Mohamed Achraf Senoussi, Mohamed Boumehraz, Vicenç Puig, Hossam Eddine Gilda, Chouki Sentouh

<div><p>This paper introduces a novel quasi Linear Parameter Varying (qLPV) model to describe the quadrotor dynamics and constraints, overcoming the limitations of existing LPV models that rely on linearization, approximation and mainly limited to attitude dynamics. Alternatively, the…

2025 European Control Conference (ECC), Jun 2025, Thessalonique (GR), Greece. pp.2832-2837, ⟨10.23919/ECC65951.2025.11187124⟩. ⟨hal-05325214⟩

• Poster de conférence

Nouveaux Grades Opérationnels et Tactiques pour l'Automatisation ferroviaire

Jean-Valentin Merlevede, Simon Enjalbert, Frédéric Vanderhaegen

Journée Régionale des Doctorants en Automatique 2025, Jun 2025, Amiens, France. ⟨hal-05123200⟩

• Communication dans un congrès

Telerehabilitation in gerontology: acceptability of patients after orthopaedic surgery

Nawel Ouendi, Eugénie Avril, Benjamin Dervaux, Philippe Pudlo, Laura Wallard

Objective: Aging healthily with minimal disability is essential. The orthopaedics surgery hip (THA) and knee (TKA) increase with age, making the development of innovative solutions crucial. Telerehabilitation is advancing, but the acceptability of digital tools remains underexplored, despite their…

JetSan 2025, Jun 2025, Troyes (France), France. ⟨hal-05119056⟩

• Thèse

Optimization of braking and traction functions for emissions reduction in the railway sector, Optimisation des fonctions freinage et traction à des fins de réduction des émissions dans le domaine ferroviaire

Arun Kumar Kantheti

Recent studies show that underground metro systems have high concentrations of particulate emissions, primarily generated by braking systems, which pose significant public health risks. This thesis, conducted within the framework of the BREAQ project, aims to reduce these emissions by optimizing…, Des études récentes montrent que les systèmes de métro souterrains présentent des concentrations élevées d’émissions particulaires, principalement générées par les systèmes de freinage, constituant un risque important pour la santé publique. Cette thèse, réalisée dans le cadre du projet BREAQ, vise…

Automatic. Université Polytechnique Hauts-de-France, 2025. English. ⟨NNT : 2025UPHF0017⟩. ⟨tel-05263521⟩