Research fellow Irstea, TSCF Unit Clermont-Ferrand Division

Transcription

1 Roland Lenain Research fellow Irstea, TSCF Unit Clermont-Ferrand Division 24, avenue des Landais BP Aubiere Cedex Roland LENAIN is a research fellow in Irstea on the topic of off-road mobile robotics. His research interests include the modeling and the control of mobile robots, submitted to uncertain and dynamical effects. This covers the motion control as well as safety aspects (rollover, instability). These works are applied in various areas: agriculture and environment, driver assistance or military aspects. Currently in Irstea since, Roland Lenain is in Charge of several National Project in the topic of mobile robot and vehicle control in hazardous context (FAST, ActiSurTT,...). He achieved a Post Doctoral Position in Lund University (dpt Automatic Control). He received is Ph.D. degree in Robotics from the Blaise Pascal University in. He was graduated from IFMA (French Institute for Advanced Mechanics) in Research interests I am interested in mobile robot control submitted to high and uncertain dynamics. It is mainly related to the development of control strategy to ensure accuracy and stability of off-road robots moving at relatively high speeds. Research topics are focused on adaptive and predictive control related to mobile robots. Backstepping and reconfigurable robotics are also investigated in order to improve dynamic capabilities and cover several kind of robots (skid steering, multiple steering axles, tractor trailer, multi-robots coordination). The research results are principally applied to environment and agriculture but also covers, surveillance, area monitoring or defense. Moreover, the theoretical development oin autonomous robots, leads partially to short term applicative project on driver assistance for safety and mobility improvements in agricultural machinery. As a result, field of interest and activities also cover expertise related to normalization of machine safety. Education Habilitation to conduct researches, Blaise Pascal University in Clermont-Ferrand (France) Mobile robot control under under and high dynamic effects Post Doctoral position, Dpt. Of Automatic Control, Lund University, Sweden Adaptive control of robots with friction compensation PhD in Vision and Robotics Cemagref and Blaise Pascal University in ClermontFerrand (France) Control of autonomous mobile robots in presence of sliding effects 2002 M.S. in mechanical and civil engineering, Blaise Pascal University 2002 Engineer diploma of IFMA (French Institute for Advanced Mechanics) Mechatronics orientation in Machine Mechanism and Systems department

2 Main recent research experiences In charge of one WorkPackage on national project Baudet-Rob Responsible of the control design on several kinds of robot for people tracking in natural environment. It comprises adaptive and predictive control in order to ensure the path admissibility, the robot integrity and accuracy warranty during following. Applications are focused on automated carrier for persons assistance Scientific coordinator of national Project ActiSurTT This project is dedicated to the design of active security devices for off-road machines. The objective is to investigate the capabilities of detection and avoidance of rollover situations aas well as loss of controllability. It comprises the indirect estimation of risk using existing sensors, as well as the design of new perception and control devices to anticipate for risky situations In charge of one WorkPackage on national project SafePlatoon This project aim at designing a fleet of autonomous robots moving in several coordinated formation. I am in charge of the architecture control design allowing the accurate relative positionning in different conditions (several kinds of robot, different desired shapes, variable grip conditions). Beyond the positionning accuracy, the control design comprises the integrity preservation of the robots formation (stability, collision avoidance, ) - General coordinator of national project FAST In this project, the design of a fast and stable mobile robot, using possible configuration is investigated in terms of mechanical design, perception capability, and control development. The idea is to succeed in moving as fast as possible in uncertain terrain while preserving the accuracy (some centimeters) and the stability of an autonomous device. - In charge of one WorkPackage of ICT CityHome Project Responsible of the control of safety for off road service robots for people assistance in dedicated area.

3 Recent professional activities Reviewer for: Journal Of Field Robotics, IEEE Transaction on Robotics, IEEE Transaction on Vehicular Technology, Biosystem Engineering, CDC, ICRA, IROS, ACC, IECON, syrocco... Associate editor for IEEE International conference on Intelligent Robots and Systems (IROS ) Member of International Program committee European Conference on Mobile Robots in Barcelona (ECMR ) Member of International Program committee IFAC AgriControl. Associate editor for IEEE International conference on Robotics and Automation (ICRA ) -... IEEE Robotics in Agriculture working group Member of organizing committee of Robotics -.. IEEE Robotiucs and Automation Society Member Teaching experience Currently supervisor of 5 PhD -... Lecturer on MSc in Mobile robot Control (Univ. Blaise Pascal) -... Lecturer on MSc in Non linear control (IFMA) -... Lecturer on MSc in Adaptive control (IFMA) -.. Lecturer on MSc in Mechanical engineering and design (IFMA) Award and honors Invited speaker in Iros WorkShop : Perception and Navigation for Autonomous Vehicles in Human Environment, San Francisco, CA, USA Best Interactive Session Award, IEEE CDC : 45th IEEE Conference on Decision and Control ( Silver Medal of French Agriculture Academia Selected Papers Roland Lenain, Pascal Morin, Claude Samson. Motion Control of Wheeled Mobile Robots Chapter 34 in Handbooks of Robotics, Springer. Invitation, à paraître en O. Hach, R. Lenain, B. Thuilot, P. Martinet Avoiding steering actuator saturation in off-road mobile robot path tracking via predictive velocity control. IEEE/RSJ International conference on intelligent robots and systems (IROS), San Francisco, CA, USA, à paraître. Mixed kinematic and dynamic sideslip angle observer for accurate control of fast off-road mobile robots. Journal of Field Robotics, 27(2): N. Bouton, R. Lenain, B. Thuilot, P. Martinet Backstepping observer dedicated to tire cornering stiffness estimation: Application to an All Terrain Vehicle and a farm tractor. Advanced Robotics, Vol. 22, No. 12. (), pp High accuracy path tracking for vehicle in presence of sliding: Application to farm vehicles automatic guidance for agricultural task. Autonomous Robots, Kluwer Academic Publishers vol. 21 n 1, pp

4 Bibliography (main papers, up to december ) International Journal RI7 Richier, M. ; Lenain, R. ; Thuilot, B. ; Debain, C. Rollover prevention system dedicated to ATVs on natural ground, Applied Mechanics and Materials (162) pp RI6 H. Fang, L. Dou, J. Chen, R. Lenain, B. Thuilot and P. Martinet, "Robust anti-sliding control of autonomous vehicles in presence of lateral disturbances", in Control Engineering Practice, Elsevier Science Publishers, vol.19, n 5, pp , May RI5 Mixed kinematic and dynamic sideslip angle observer for accurate control of fast off-road mobile robots. Journal of Field Robotics, 27(2): RI4 Christophe Cariou, Roland Lenain, Benoit Thuilot, Michel Berducat Automatic guidance of a four-wheel-steering mobile robot for accurate field operations. Journal of Field Robotics 26(6-7): RI3 N. Bouton, R. Lenain, B. Thuilot, P. Martinet Backstepping observer dedicated to tire cornering stiffness estimation: Application to an All Terrain Vehicle and a farm tractor. Advanced Robotics, Vol. 22, No. 12. (), pp RI Adaptive and Predictive Path Tracking Control for Off-road Mobile Robots. European Journal of Control, Vol 13 N 4, pp , RI1 High accuracy path tracking for vehicle in presence of sliding: Application to farm vehicles automatic guidance for agricultural task. Autonomous Robots, Kluwer Academic Publishers vol. 21 n 1, pp Book chapters Ch1 Roland Lenain, Pascal Morin, Claude Samson. Motion Control of Wheeled Mobile Robots Chapter 34 in Handbooks of Robotics, Springer. Invitation, to be published en Ch2 CIa29 Roland Lenain, Benoit Thuilot Mobile Robot Control on Uneven and Slippery Ground: An Adaptive Approach Based on a MultiModel Observer, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'12, pp ,Vilamoura, Portugal, 7-12 October CIa28 Mathieu Richier, Roland Lenain, Benoit Thuilot, Christophe Debain Dual back-stepping observer to anticipate the rollover risk in under/over-steering situations.application to ATVs in off-road context, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'12, pp , Vilamoura, Portugal, 7-12 October CIa27 Roland Lenain, Benoit Thuilot, Nicolas Bouton, Philippe Martinet Off-road mobile robot control: an adaptive approach for accuracy and integrity, 19th CISMIFToMM Symposium on Robot Design, Dynamics, and Control, ROMANSY, Paris, France, June 12-15, CIa26 M. Richier, R. Lenain, B. Thuilot, C. Debain On-line estimaion of a stability metric including grip conditions and slope: Application to rollover prevention for All-Terrain Vehicles. IEEE/RSJ International conference on intelligent robots and systems (IROS), pp , San Francisco, CA, USA. Jean-Christophe FAUROUX, Belhassen-Chedli BOUZGARROU, Nicolas BOUTON, Philippe VASLIN, Roland LENAIN, Frédéric CHAPELLE Agile wheeled mobile robots for service in natural environment, in Service Robots and Robotics: Design and Application, IGI Global, pp Rank A International conferences

5 CIa25 CIa24 CIa23 CIa22 CIa21 CIa20 CIa19 CIa18 CIa17 CIa16 CIa15 CIa14 CIa13 CIa12 CIa CIa O. Hach, R. Lenain, B. Thuilot, P. Martinet Avoiding steering actuator saturation in off-road mobile robot path tracking via predictive velocity control. IEEE/RSJ International conference on intelligent robots and systems (IROS), pp , San Francisco, CA, USA. R. Lenain, B. Thuilot, O. Hach, P. Martinet High-speed mobile robot control in off-road conditions: a multi-model based adaptive approach, in Proceedings of the IEEE International Conference on Robotics and Automation, ICRA'11, pp , Shangai, China, 9-13 May, O. Hach, K. Müller, R. Lenain An Experimental Mobile Robot Platform for the Study of Dynamic Effects and High Speed Control, in Proceedings of the IEEE International Conference on Robotics and Automation, ICRA'11, pp , Shangai, China, 9-13 May, R. Lenain, E. Lucet, C. Grand, B. Thuilot, F. Ben Amar Accurate and stable mobile robot path tracking algorithm: An integrated solution for off-road and high speed context IEEE/RSJ International conference on intelligent robots and systems (IROS), pp , Taipei, Taiwan, october C. Cariou, R. Lenain, B. Thuilot, P. Martinet () Path following of a vehicle-trailer system in presence of sliding: Application to automatic guidance of a towed agricultural implement, IEEE/RSJ International conference on intelligent robots and systems (IROS), pp , Taipei, Taiwan, october. R. Lenain, J. Preynat, B. Thuilot, P. Avanzini and P. Martinet, Adaptive formation control of a fleet of mobile robots: application to autonomous field operations, in Proceedings of the IEEE International Conference on Robotics and Automation, ICRA'10, pp , Anchorage, USA, 3-8 May, C. Cariou, R. Lenain, B. Thuilot and P. Martinet Autonomous maneuver of a farm vehicle with a trailed implement: motion planner and lateral-longitudinal controllers, in Proceedings of the IEEE International Conference on Robotics and Automation, ICRA'10, pp , Anchorage, USA, 3-8 May, N. Bouton, R. Lenain, B. Thuilot and P. Martinet A new device dedicated to autonomous mobile robot dynamic stability: application to an off-road mobile robot, in Proceedings of the IEEE International Conference on Robotics and Automation, ICRA'10, pp , Anchorage, USA, 3-8 May, Multi-Model Based Sideslip Angle Observer: Accurate Control of High-Speed Mobile Robots in Off-Road Conditions. IEEE/RSJ International conference on intelligent robots and systems (IROS), pp , St Louis, MO, USA. Christophe Cariou, Roland Lenain, Benoit Thuilot, Philippe Martinet Motion Planner and Lateral-Longitudinal Controllers for Autonomous Maneuvers of a Farm Vehicle in Headland. IEEE/RSJ International conference on intelligent robots and systems (IROS), pp , St Louis, MO, USA. Nicolas Bouton, Roland Lenain, Benoit Thuilot, Philippe Martinet An active anti-rollover device based on Predictive Functional Control: Application to an AllTerrain Vehicle,.IEEE International Conference on Robotics and Automation, ICRA'09, pp , Kobe, Japan. Nicolas Bouton, Roland Lenain, Benoit Thuilot, Philippe Martinet A rollover indicator based on a tire stiffness backstepping observer: application to an all-terrain vehicle. IEEE/RSJ International conference on intelligent robots and systems (IROS), Nice, France, september Christophe Cariou, Roland Lenain, Benoit Thuilot, Philippe Martinet Adaptive control of four wheel steering off road mobile robots: application to path tracking and heading control in presence of sliding. IEEE/RSJ International conference on intelligent robots and systems (IROS), Nice, France, september Lenain, R., Robertsson, A., Johansson, R., Shiriaev, A., Berducat, M. A velocity observer based on friction adaptation. Proceedings - IEEE International Conference on Robotics and Automation, art. no , pp (Passadena, USA) Nicolas Bouton, Roland Lenain, Benoit Thuilot, Philippe Martinet Backstepping observer dedicated to tire cornering stiffness estimation: Application to an All Terrain Vehicle and a farm tractor. In Proc. of IEEE International Conference on Intelligent RObots and Systems IROS2007, pp (San Diego, CA, USA) N. Bouton, R. Lenain, B. Thuilot, J-C. Fauroux A rollover indicator based on the prediction of the load transferin presence of sliding: application to an All Terrain Vehicle. In Proc. IEEE International Conference on Robotics and Automation ICRA2007, pp (Roma, Italy)

6 CIa9 R. Lenain, B. Thuilot, C. Cariou, P. Martinet Mobile robots control in presence of sliding : Application to agricultural vehicle path tracking. In Proceedings of the 45th IEEE Conference on Decision and Control, CDC'06, pp (San Diego, California, USA) CIa8 Sideslip angles observer for vehicle guidance in sliding conditions: Application to agricultural path tracking tasks. In Proc. IEEE International Conference on Robotics and Automation ICRA, pp , (Orlando, Floride, USA) CIa7 Model Predictive Control for vehicle guidance in presence of sliding: Application to farm vehicles path tracking. In Proc. of IEEE International Conference on Robotics and Automation, ICRA, pp (Barcelone, Espagne) CIa6 Fang Hao, Roland Lenain, Benoit Thuilot, Philippe Martinet Robust Adaptive Control of Automatic Guidance of Farm Vehicles in the Presence of Sliding. In Proc. of IEEE International Conference on Robotics and Automation, ICRA, pp (Barcelone, Espagne) CIa5 Fang Hao, Roland Lenain, Benoit Thuilot, Philippe Martinet Trajectory Tracking Control of Farm Vehicles in Presence of Sliding. In Proc. of IEEE International Conference on Intelligent RObots and Systems IROS, pp (Edmonton, Canada) CIa CIa CIa CIa Adaptive and predictive non linear control for sliding vehicle guidance: Application to trajectory tracking of farm vehicles relying on a single RTK GPS. In Proc. of IEEE International Conference on Intelligent RObots and Systems IROS2004, pp (Sendai, Japan) A new nonlinear control for vehicle in sliding conditions: Application to automatic guidance of farm vehicles using RTK GPS. In Proc. of IEEE International Conference on Robotics and Automation, ICRA2004, vol. 5: pp (New Orleans, Lousiana, USA) Rejection of sliding effects in car like robot control: Application to farm vehicle guidance using a single RTK GPS sensor. in Proc. of IEEE International Conference on Intelligent RObots and Systems IROS2003, vol. 4: pp (Las Vegas, Nevada, USA) Adaptive control for car like vehicles guidance relying on RTK GPS: Rejection of sliding effects in agricultural applications. in Proc. of IEEE International Conference on Robotics and Automation ICRA2003, vol 1: pp (Taippei, Taïwan)