Doctorant sous la direction de C. STOICA

Titre de la thèse: Fault-tolerant predictive control techniques for multi-vehicle formations
Résumé de la thèse: One of the priorities of this PhD thesis will be the robust predictive control for multiple agents’ formations in the presence of faults. In the context of rescue missions (large-scale fire extinguishing missions, object research problems etc.), the coordination and control of a fleet of heterogeneous vehicles become an important issue. These multi-agent missions will imply task allocation of the agents, trajectory/path planning, real-time control issues under constraints and uncertainties, state estimation etc. Centralized/decentralized/distributed receding horizon control techniques based on set-theoretic tools will be used to deal with possible faults, constraints, uncertainties, delays, formation reconfiguration strategies. The safety of the missions is a priority and thus the developed techniques will be essentially built on sensor redundancy necessary for diagnosis and fault-tolerant control for multi-agent systems. The developed control laws will be tested and validated on a multi-vehicle formation, for which simplified models are already available.

2019

Journal articles

titre
Decentralized MPC for UAVs Formation Deployment and Reconfiguration with Multiple Outgoing Agents
auteur
Thomas Chevet, Cristina Vlad, Cristina Stoica Maniu, Youmin Zhang
article
Journal of Intelligent and Robotic Systems, Springer Verlag, 2019, ⟨10.1007/s10846-019-01025-x⟩
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Conference papers

titre
Zonotopic set-membership state estimation applied to an octorotor model
auteur
Dory Merhy, Cristina Stoica Maniu, Teodoro Alamo, Eduardo Fernandez Camacho, Thomas Chevet, Maria Makarov, Israël Hinostroza
article
12th Summer Workshop on Interval Methods, Jul 2019, Palaiseau, France
Accès au texte intégral et bibtex
https://hal.archives-ouvertes.fr/hal-02275035/file/SWIM19_DoryMerhy.pdf BibTex
titre
Modernizing Teaching through Experimentation on UAVs Formations
auteur
Cristina Stoica Maniu, Cristina Vlad, Thomas Chevet, Gauthier Rousseau, Sylvain Bertrand, Sorin Olaru
article
12th IFAC Symposium on Advances in Control Education, Jul 2019, Philadelphia, United States. ⟨10.1016/j.ifacol.2019.08.183⟩
Accès au texte intégral et bibtex
https://hal.archives-ouvertes.fr/hal-02275093/file/MEECOD_ACE.pdf BibTex
titre
Guaranteed Voronoi-based Deployment for Multi-Agent Systems under Uncertain Measurements
auteur
Thomas Chevet, Cristina Stoica Maniu, Cristina Vlad, Youmin Zhang
article
18th European Control Conference, Jun 2019, Naples, Italy. pp.4016-4021, ⟨10.23919/ECC.2019.8796152⟩
Accès au texte intégral et bibtex
https://hal.archives-ouvertes.fr/hal-02100528/file/Chevet%20et%20al%20-%20ECC%202019%20-%20Guaranteed%20Voronoi-based%20Deployment%20for%20Multi-Agent%20Systems%20under%20Uncertain%20Measurements.pdf BibTex

Other publications

titre
Mini-Drone Modeling & Control Design
auteur
Ali Wehbe, Mehdi Arsaoui, Rita Bouallou, Thomas Chevet, Filippo Castagna, Gauthier Rousseau, Cristina Vlad, Cristina Stoica Maniu
article
2019
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2018

Conference papers

titre
Voronoi-based UAVs Formation Deployment and Reconfiguration using MPC Techniques
auteur
Thomas Chevet, Cristina Stoica Maniu, Cristina Vlad, Youmin Zhang
article
International Conference on Unmanned Aircraft Systems, ICUAS'18, Jun 2018, Dallas, TX, United States. pp.9-14, ⟨10.1109/ICUAS.2018.8453342⟩
Accès au texte intégral et bibtex
https://hal.archives-ouvertes.fr/hal-01768188/file/Chevet%20et%20al%20-%20ICUAS%202018%20-%20Voronoi-based%20UAVs%20Formation%20Deployment%20and%20Reconfiguration%20using%20MPC%20Techniques.pdf BibTex

Other publications

titre
Set-membership state estimation of an octorotor applied to radar imaging
auteur
Dory Merhy, Cristina Stoica Maniu, Teodoro Alamo, Eduardo Fernandez Camacho, Sofiane Ben Chabane, Thomas Chevet, Maria Makarov
article
2018
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2017

Conference papers

titre
State estimation of an octorotor with unknown inputs. Application to radar imaging
auteur
Thomas Chevet, Maria Makarov, Cristina Stoica Maniu, Israel Hinostroza, Pierre Tarascon
article
21st International Conference on System Theory, Control and Computing, Oct 2017, Sinaia, Romania. pp.723-728, ⟨10.1109/ICSTCC.2017.8107122⟩
Accès au texte intégral et bibtex
https://hal.archives-ouvertes.fr/hal-01630173/file/Chevet%20-%20ICTSCC%202017%20-%20State%20Estimation%20of%20an%20Octorotor%20with%20Unkown%20Inputs.pdf BibTex

Other publications

titre
State estimation of an octorotor with unknown inputs. Application to radar imaging
auteur
Thomas Chevet, Maria Makarov, Cristina Stoica Maniu, Israel Hinostroza, Pierre Tarascon
article
2017
Accès au bibtex
BibTex