Journal articles

2023

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Mehdi Mounsif, Sébastien Lengagne, Benoit Thuilot, Lounis Adouane. Universal Notice Networks: Transferring Learned Skills Through a Broad Panel of Applications. Journal of Intelligent and Robotic Systems, In press, 107 (2), pp.18. ⟨10.1007/s10846-023-01809-2⟩. ⟨hal-03935796⟩

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2017

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Audrey Guillet, Roland Lenain, Benoit Thuilot, Vincent Rousseau. Formation Control of Agricultural Mobile Robots: A Bidirectional Weighted Constraints Approach. Journal of Field Robotics, 2017, 34 (7), pp.1260 - 1274. ⟨10.1002/rob.21704⟩. ⟨hal-01658323⟩

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Roland Lenain, Mathieu Deremetz, Jean-Baptiste Braconnier, Benoit Thuilot, Vincent Rousseau. Robust sideslip angles observer for accurate off-road path tracking control. Advanced Robotics, 2017, 31 (9), pp.453 - 467. ⟨10.1080/01691864.2017.1280414⟩. ⟨hal-01658404⟩

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2012

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M. Richier, R. Lenain, Benoît Thuilot, C. Debain. Rollover prevention system dedicated to ATVs on natural ground. Applied Mechanics and Materials, 2012, 162, p. 505 - p. 514. ⟨10.4028/www.scientific.net/AMM.162.505⟩. ⟨hal-00765926⟩

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2011

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Hao Fang, Lihua Dou, Jie Chen, Roland Lenain, Benoît Thuilot, et al.. Robust anti-sliding control of autonomous vehicles in presence of lateral disturbances. Control Engineering Practice, 2011, 19 (5), pp.468-478. ⟨10.1016/j.conengprac.2011.01.008⟩. ⟨hal-02463478⟩

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2010

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R. Lenain, Benoît Thuilot, C. Cariou, P. Martinet. Mixed kinematic and dynamic sideslip angle observer for accurate control of fast off-road mobile robots. Journal of Field Robotics, 2010, 27 (2), p. 181 - p. 196. ⟨10.1002/rob.20319⟩. ⟨hal-00523387⟩

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2009

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Roland Lenain, Benoît Thuilot, Christophe Cariou, Philippe Martinet. Mixed kinematic and dynamic sideslip angle observer for accurate control of fast off-road mobile robots. Journal of Field Robotics, 2009, pp.n/a-n/a. ⟨10.1002/rob.20319⟩. ⟨hal-02463480⟩

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2008

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Nicolas Bouton, Roland Lenain, Benoît Thuilot, Philippe Martinet. A Tire Stiffness Backstepping Observer Dedicated to All-Terrain Vehicle Rollover Prevention. Advanced Robotics, 2008, 22 (12), pp. 1267-1285. ⟨10.1163/156855308X344828⟩. ⟨hal-00344108⟩

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2007

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Roland Lenain, Benoît Thuilot, Michel Berducat, Philippe Martinet. Commande de véhicules en présence de glissement. Application au suivi de trajectoire pour les engins agricoles. Revue d'Auvergne, 2007, pp.187--205. ⟨hal-00344854⟩

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Roland Lenain, Benoît Thuilot, Christophe Cariou, Philippe Martinet. Adaptive and predictive path tracking control for off-road mobile robots. European Journal of Control, 2007, 13 (4), pp.419-439. ⟨10.3166/ejc.13.419-439⟩. ⟨hal-00344107⟩

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2006

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Hao Fang, Ruixia Fan, Benoît Thuilot, Philippe Martinet. Trajectory Tracking Control of Farm Vehicles in Presence of Sliding. Robotics and Autonomous Systems, 2006, 54 (10), pp.828-839. ⟨10.1016/j.robot.2006.04.011⟩. ⟨hal-00102713⟩

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Roland Lenain, Benoît Thuilot, Christophe Cariou, Philippe Martinet. High accuracy path tracking for vehicle in presence of sliding: application to farm vehicles automatic guidance for agricultural tasks. Autonomous Robots, 2006, 21 (1), pp.79-97. ⟨10.1007/s10514-006-7806-4⟩. ⟨hal-00094468⟩

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2003

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Christophe Cariou, Benoît Thuilot, P. Martinet, M Berducat. Guidage automatique d'un engin agricole par GPS cinématique.. Journal Européen des Systèmes Automatisés (JESA), 2003, 37 (3), pp.405-433. ⟨hal-00272618⟩

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2002

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B. Thuilot, C. Cariou, P. Martinet, M. Berducat. Automatic Guidance of a Farm Tractor Relying on a Single CP-DGPS. Autonomous Robots, 2002, 13 (1), pp.53-71. ⟨10.1023/A:1015678121948⟩. ⟨hal-02466250⟩

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Conference papers

2023

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Julien Pascal, Benoit Thuilot, Paul Checchin. Planification de trajectoire d'un chariot autonome à fourche. CNRIUT 2023 Saint Pierre - La Réunion, IUT de Saint Pierre, Jun 2023, Saint Pierre (La Réunion), La Réunion. ⟨hal-04326931⟩

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2020

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Mehdi Mounsif, Sebastien Lengagne, Benoit Thuilot, Lounis Adouane. CoachGAN: Fast Adversarial Transfer Learning between differently shaped entities. 17th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2020), Jul 2020, Paris, France. pp.89-96, ⟨10.5220/0009972200890096⟩. ⟨hal-02947364⟩

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Mehdi Mounsif, Sebastien Lengagne, Benoit Thuilot, Lounis Adouane. BAM! Base Abstracted Modeling with Universal Notice Network: Fast Skill Transfer Between Mobile Manipulators. 7th International Conference on Control, Decision and Information Technologies (CoDIT 2020), Jun 2020, Prague, Czech Republic. pp.926-932, ⟨10.1109/CoDIT49905.2020.9263931⟩. ⟨hal-02947365⟩

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Guillaume Picard, Roland Lenain, Laneurit Jean, Benoit Thuilot, Christophe Cariou. A predictive control framework for edge following: Application to two types of mobile robots. 2020 IEEE Conference on Control Technology and Applications (CCTA), Aug 2020, Montreal, Canada. pp.254-260, ⟨10.1109/CCTA41146.2020.9206371⟩. ⟨hal-03042442⟩

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2019

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Mathieu Deremetz, Adrian Couvent, Roland Lenain, Benoît Thuilot, Christophe Cariou. A generic control framework for mobile robots edge following. 16th International Conference on Informatics in Control, Automation and Robotics, Jul 2019, Montreal, Canada. pp.104-113, ⟨10.5220/0007915501040113⟩. ⟨hal-03194991⟩

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Mehdi Mounsif, Sebastien Lengagne, Benoit Thuilot, Lounis Adouane. Universal Notice Network: Transferable Knowledge Among Agents. 6th International Conference on Control, Decision and Information Technologies (CoDIT 2019), Apr 2019, Paris, France. pp.563-568, ⟨10.1109/CoDIT.2019.8820403⟩. ⟨hal-03042500⟩

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Charles Philippe, Lounis Adouane, Antonios Tsourdos, Hyo-Sang Shin, Benoit Thuilot. Probability Collectives Algorithm applied to Decentralized Intersection Coordination for Connected Autonomous Vehicles. 2019 IEEE Intelligent Vehicles Symposium (IV), Jun 2019, Paris, France. pp.1928-1934, ⟨10.1109/IVS.2019.8813827⟩. ⟨hal-03620798⟩

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2018

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Mathieu Deremetz, Roland Lenain, Benoît Thuilot. Path Tracking of a Two-Wheel Steering Mobile Robot: An Accurate and Robust Multi-Model Off-Road Steering Strategy. 2018 IEEE International Conference on Robotics and Automation (ICRA), May 2018, Brisbane, France. pp.3037-3044, ⟨10.1109/icra.2018.8460598⟩. ⟨hal-01914848⟩

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Roland Lenain, Ange Nizard, Mathieu Deremetz, Benoît Thuilot, Vianney Papot, et al.. Path Tracking of a Bi-steerable Mobile Robot: An Adaptive Off-road Multi-control Law Strategy. 15th International Conference on Informatics in Control, Automation and Robotics, Jul 2018, Porto, France. pp.173-180, ⟨10.5220/0006865801730180⟩. ⟨hal-01914883⟩

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Charles Philippe, Lounis Adouane, Benoît Thuilot, Antonio Tsourdos, Sang Shin Hyo. Safe and Online MPC for Managing Safety and Comfort of Autonomous Vehicles in Urban Environment. IEEE International Conference on Intelligent Transportation Systems (ITSC), Nov 2018, Maui, United States. ⟨hal-01914915⟩

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2017

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Mathieu Deremetz, Roland Lenain, Benoit Thuilot, Vincent Rousseau. Adaptive trajectory control of off-road mobile robots: A multi-model observer approach. IEEE International Conference on Robotics and Automation (ICRA), May 2017, Singapour, Singapore. pp.4407 -- 4413, ⟨10.1109/ICRA.2017.7989509⟩. ⟨hal-01658523⟩

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Mathieu Deremetz, Roland Lenain, Adrian Couvent, Christophe Cariou, Benoit Thuilot. Path tracking of a four-wheel steering mobile robot: A robust off-road parallel steering strategy. ECMR The European Conference on Mobile Robotics, Sep 2017, Paris, France. pp.62 - 68, ⟨10.1109/ECMR.2017.8098670⟩. ⟨hal-02607237⟩

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Mathieu Deremetz, Roland Lenain, Benoit Thuilot. Stiffness and damping real-time control algorithms for adjustable suspensions : A strategy to reduce dynamical effects on vehicles in off-road conditions . IFAC World Congress (IFAC-WC), Jul 2017, Toulouse, France. pp.1958 - 1964, ⟨10.1016/j.ifacol.2017.08.1565⟩. ⟨hal-01658546⟩

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D. Dieumet, B. Thuilot, R. Lenain, M. Berducat. Low cost active devices to estimate and prevent off-road vehicle from rollover. AXEMA-EurAgEng Conference "Intensive and environmentally friendly agriculture: an opportunity for innovation in machinery and systems", Feb 2017, Villepinte, France. ⟨hal-02607282⟩

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Charles Philippe, Lounis Adouane, Benoit Thuilot, Antonios Tsourdos, Hyo-Sang Shin. Risk and Comfort Management for Multi-Vehicle Navigation using a Flexible and Robust Cascade Control Architecture. IEEE European Conference on Mobile Robots (ECMR), Sep 2017, Paris, France. pp.252 -- 258, ⟨10.1109/ECMR.2017.8098703⟩. ⟨hal-01658564⟩

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2016

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Eric Royer, Francois Marmoiton, Serge Alizon, Datta Ramadasan, Morgan Slade, et al.. Lessons learned after more than 1000 km in an autonomous shuttle guided by vision. 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC), Nov 2016, Rio de Janeiro, France. pp.2248-2253, ⟨10.1109/ITSC.2016.7795919⟩. ⟨hal-02098240⟩

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2015

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A. Guillet, B. Benet, R. Lenain, Christophe Cariou, B. Thuilot. Control of autonomous off-road vehicles in formation for agricultural operations. MGEF 2015, Mediterranean Green Energy Forum, Mar 2015, Marrakech, Morocco. pp.7. ⟨hal-02601094⟩

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A. Nizard, B. Thuilot, R. Lenain, M. Berducat. Tire longitudinal grip estimation for improved safety of vehicles in off-road conditions. Mediterranean Green Energy Forum in 2015 (MGEF 2015), Mar 2015, Marrakech, Morocco. ⟨hal-02603361⟩

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A. Nizard, B. Thuilot, R. Lenain. Tire longitudinal grip estimation for improved safety of vehicles in off-road conditions. IEEE International Conférence on Robotic and Automation 2015, Jun 2015, Seattle, United States. ⟨hal-02605640⟩

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2014

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R. Lenain, B. Thuilot, A. Guillet, B. Benet. Accurate target tracking control for a mobile robot: A robust adaptive approach for off-road motion. 2014 IEEE International Conference on Robotics and Automation (ICRA), May 2014, Hong Kong, pp.2652-2657, ⟨10.1109/ICRA.2014.6907239⟩. ⟨hal-02603656⟩

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2013

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Lounis Adouane, Romuald Aufrère, Pierre Avanzini, Guillaume Bresson, Chapuis Roland, et al.. Safeplatoon: surete de convois de vehicules autonomes. In Proc. of Journees Nationales des Communications dans les Transport - JNCT, 2013, Paris, France. ⟨hal-01714842⟩

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P. Cartade, J.B. Braconnier, R. Lenain, B. Thuilot. Adaptive and predictive control of a mobile robots fleet: Application to off-road formation regulation. IEEE International Conference on Robotics and Automation (ICRA), May 2013, Karlsruhe, Germany. pp.1836-1842. ⟨hal-02599863⟩

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A. Guillet, R. Lenain, B. Thuilot. Off-road path tracking of a fleet of WMR with adaptive and predictive control. IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2013, Tokyo, Japan. pp.2855-2861. ⟨hal-02599491⟩

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Mathieu Richier, Roland Lenain, Benoît Thuilot, Christophe Debain. Rollover prevention of All-Terrain Vehicle during aggressive driving using multi-model observer. Application to ATVS in off-road context. Applied Electrical Engineering and Computing Technologies (AEECT), 2013 IEEE Jordan Conference on, 2013, Unknown, Unknown Region. pp.1--6. ⟨hal-01723816⟩

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M. Richier, R. Lenain, B. Thuilot, C. Debain. Rollover prevention of All-Terrain Vehicle during aggressive driving using multi-model observer. Application to ATVS in off-road context. 2013, pp.6. ⟨hal-02599865⟩

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2012

ref_biblio

C. Cariou, R. Lenain, Benoît Thuilot, M. Berducat. Automatic guidance of an off-road mobile robot with a trailer: Application to the control of agricultural passive towed implements. International conference of agricultural engineering, CIGR-AgEng2012, Jul 2012, Valence, Spain. 6 p. ⟨hal-00743661⟩

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P. Cartade, R. Lenain, Benoît Thuilot, B. Benet, M. Berducat. Motion Control of a heterogeneous fleet of mobile robots: Formation control for achieving agriculture task. AGENG 2012 5th Automation Technology for Off-Road Equipment Conference, Jul 2012, Valencia, Spain. 6 p. ⟨hal-00781719⟩

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P. Cartade, R. Lenain, Benoît Thuilot, M. Berducat. Algorithmes pour la commande d’une formation de robots mobiles. 7ième Conférence Internationale Francophone d’Automatique (CIFA’12), Jul 2012, Grenoble, France. 6 p. ⟨hal-00765934⟩

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P. Cartade, R Lenain, Benoît Thuilot, M. Berducat. Formation control algorithm for a fleet of mobile robots. 3rd International Conference on Machine Control & Guidance, Mar 2012, Stuttgart, Germany. p. - p. ⟨hal-00795040⟩

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D. Dieumet, Benoît Thuilot, R. Lenain, M. Berducat. Preserving stability of huge agriculture machines with internal mobilities: Application to a grape harvester. International Conference of Agricultural Engineering, CIGR-AgEng2012, Jul 2012, Valence, Spain. p. - p. ⟨hal-00794761⟩

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R. Lenain, Benoît Thuilot, N. Bouton, P. Martinet. Off-road mobile robot control: An adaptive approach for accuracy and integrity. 19th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control, ROMANSY 2012, Jun 2012, Paris, France. p. - p. ⟨hal-00763638⟩

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R. Lenain, P. Cartade, Benoît Thuilot, P. Delmas, M. Berducat. Development of robotics tools for agricultural task achievement: The example of robot formation control. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'12, Oct 2012, Vilamoura, Portugal. 8 p. ⟨hal-00766294⟩

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R. Lenain, Benoît Thuilot. Mobile robot control on uneven and slippery ground: An adaptive approach based on a multi-model observer. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'12, Oct 2012, Vilamoura, Portugal. 8 p. ⟨hal-00766301⟩

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M. Richier, R. Lenain, Benoît Thuilot, C. 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, Oct 2012, Vilamoura, Portugal. 6 p. ⟨hal-00765372⟩

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M. Richier, R. Lenain, Benoît Thuilot, C. Debain. Système de prévention du risque de renversement latéral pour des véhicules évoluant en milieu naturel. 7ième Conférence Internationale Francophone d’Automatique (CIFA’12), Jul 2012, Grenoble, France. 6 p. ⟨hal-00788095⟩

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M. Richier, R. Lenain, B. Thuilot, C. Debain. Preservation of stability of automated off-road robots: Application to adaptive and predictive speed management. International Conference on Agricultural Engineering, Valencia Conference Centre, Jul 2012, Valencia, Portugal. ⟨hal-02598240⟩

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Mathieu Richier, Roland Lenain, Benoît Thuilot, Christophe Debain. Robust multi-model observer dedicated to the rollover prevention. Application to ATVs in off-road context. Communications, Computing and Control Applications (CCCA), 2012 2nd International Conference on, 2012, Unknown, Unknown Region. pp.1--6. ⟨hal-01723821⟩

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M. Richier, R. Lenain, Benoît Thuilot, M. Berducat. ATV rollover prevention system including varying grip conditions and bank angle. 3rd International Conference on Machine Control & Guidance, Mar 2012, Stuttgart, Germany. 10 p. ⟨hal-00795078⟩

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2011

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R. Lenain, Benoît Thuilot, O. Hach, P. Martinet. High-speed mobile robot control in off-road conditions: a multi-model based adaptive approach. IEEE International Conference on Robotics and Automation, ICRA'11, May 2011, Shangaï, China. p. 6143 - p. 6149. ⟨hal-00615483⟩

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M. Richier, R. Lenain, Benoît Thuilot, C. Debain. On-line estimation of a stability metric including grip conditions and slope: Application to rollover prevention for all-terrain vehicles. IROS'11, IEEE/RSJ International conference on intelligent robots and systems, Sep 2011, San Francisco, United States. p. - p. ⟨hal-00665035⟩

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2010

ref_biblio

N. Bouton, R. Lenain, Benoît Thuilot, P. Martinet, M. Berducat. New active safety device dedicated to light all-terrain vehicle stability: Application to quad bike and off-road mobile robot. AgEng 2010, International Conference on Agricultural Engineering, Sep 2010, Clermont-Ferrand, France. 8 p. ⟨hal-00525088⟩

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Christophe Cariou, R. Lenain, M. Berducat, B. Thuilot. Autonomous maneuvers of a farm vehicle with a trailed implement in headland. 7th international conference on informatics in control, automation and robotics (ICINCO), Jun 2010, Funchal, Madeira, Portugal. pp.109-114. ⟨hal-02593292⟩

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C. Cariou, R. Lenain, Benoît Thuilot, T. Humbert, M. Berducat. Maneuvers automation for agricultural vehicle in headland. AgEng 2010, International Conference on Agricultural Engineering, Sep 2010, Clermont-Ferrand, France. 10 p. ⟨hal-00523407⟩

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R. Lenain, Eric Lucet, Christophe Grand, Benoît Thuilot, Faïz Ben Amar. Accurate and stable mobile robot path tracking algorithm: an integrated solution for off-road and high speed context. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, Taipei, Taiwan. pp.196-201. ⟨hal-03177950⟩

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Martinet Philippe, Benoit Thuilot, Lounis Adouane, Y. Mezouar. Towards an Urban Cooperative and Autonomous Navigation System. IARP workshop on Risky Interventions and Environmental Surveillance-Maintenance, Jan 2010, Sheffield, United Kingdom. ⟨hal-01714863⟩

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2009

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P. Avanzini, B. Thuilot, T. Dallej, Philippe Martinet, J.P. Derutin. On-line reference trajectory generation for manually convoying a platoon of automatic urban vehicles. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), Oct 2009, St. Louis, France. pp.1867-1872, ⟨10.1109/IROS.2009.5353893⟩. ⟨hal-02468616⟩

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Pierre Avanzini, Benoit Thuilot, Philippe Martinet. Obstacle Avoidance and Trajectory Replanification for a Group of Communicating Vehicles. ITST 2009 - 9th International Conference on ITS Telecommunications, Oct 2009, Lille, France. pp.267-272, ⟨10.1109/ITST.2009.5399345⟩. ⟨hal-02468620⟩

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Nicolas Bouton, R. Lenain, B. Thuilot, Philippe Martinet. An active anti-rollover device based on Predictive Functional Control: application to an All-Terrain Vehicle. 2009 IEEE International Conference on Robotics and Automation (ICRA), May 2009, Kobe, France. pp.1309-1314, ⟨10.1109/ROBOT.2009.5152243⟩. ⟨hal-02468611⟩

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Christophe Cariou, R. Lenain, B. Thuilot, M. Berducat. Automatic guidance of agricultural vehicles in headland: maneuvers generation and motion control. XXXIII CIOSTA CIGR V Conference 2009, Technology and management to ensure sustainable agriculture, agro-systems, forestry and safety, Jun 2009, Reggio Calabria, Italy. pp.671-675. ⟨hal-02591928⟩

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Christophe Cariou, Roland Lenain, Benoit Thuilot, Philippe Martinet. Automatic reverse turn of agricultural vehicles: a predictive approach. ICRA09 - IEEE RAS Workshop on Agricultural Robotics, May 2009, Kobe, Japan. ⟨hal-02468610⟩

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Christophe Cariou, Roland Lenain, Benoit Thuilot, Philippe Martinet. Motion planner and lateral-longitudinal controllers for autonomous maneuvers of a farm vehicle in headland. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), Oct 2009, St Louis, MO, United States. pp.5782-5787, ⟨10.1109/IROS.2009.5354722⟩. ⟨hal-02468615⟩

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Roland Lenain, Benoit Thuilot, Christophe Cariou, Philippe Martinet. Multi-model based sideslip angle observer: accurate control of high-speed mobile robots in off-road conditions. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), Oct 2009, St. Louis, MO, United States. pp.1197-1202, ⟨10.1109/IROS.2009.5354727⟩. ⟨hal-02468617⟩

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B. Thuilot, R. Lenain, P. Martinet, M. Berducat. Véhicules urbains et en environnement naturel au LASMEA et au Cemagref. Colloque Le siècle de la voiture intelligente, Nov 2009, Paris, France. pp.2. ⟨hal-02592849⟩

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2008

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Pierre Avanzini, Eric Royer, Benoît Thuilot, Philippe Martinet. A global decentralized control strategy for urban vehicle platooning using monocular vision and laser rangefinder. International Conference on Control, Automation, Robotics and Vision (ICAR-CV), Dec 2008, Hanoi, Vietnam. ⟨hal-00344848⟩

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N. Bouton, R. Lenain, B. Thuilot, P. Martinet. Utilisation des principes de commande adaptative pour la commande des véhicules en milieu naturel. Séminaire du GDR Robotique : GT4 Méthodologies pour la Robotique, Jan 2008, Paris, France. pp.2. ⟨hal-02590938⟩

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Nicolas Bouton, Roland Lenain, Benoît 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), Sep 2008, Nice, France. pp.2726 - 2731, ⟨10.1109/IROS.2008.4650648⟩. ⟨hal-00344818⟩

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Nicolas Bouton, Roland Lenain, Benoît Thuilot, Michel Berducat. A rollover indicator dedicated to all-terrain vehicles including sliding effects and pilot behavior. International Conference on Agricultural Engineering (AgEng), Jun 2008, Hersonissos, Greece. ⟨hal-00344836⟩

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Nicolas Bouton, Roland Lenain, Benoît Thuilot, Michel Berducat. Développement d'un indicateur de risque de renversement destiné aux véhicules tout-terrain. Conférence Internationale Francophone d'Automatique (CIFA), Sep 2008, Bucarest, Roumanie. ⟨hal-00344832⟩

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Christophe Cariou, Roland Lenain, Benoît Thuilot, Philippe Martinet. Commande d'un véhicule à 4 roues directrices en milieu naturel: application au suivi de trajectoires pour les engins agricoles. Conférence Internationale Francophone d'Automatique (CIFA), Sep 2008, Bucarest, Roumanie. pp.6. ⟨hal-00344834⟩

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Christophe Cariou, R. Lenain, B. Thuilot, M. Berducat. Automatic guidance of a four wheel steering vehicle. 66th LandTechnik Conference : Agricultural Engineering, Sep 2008, Stuttgart, Germany. pp.6. ⟨hal-02590924⟩

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Christophe Cariou, Roland Lenain, Benoît Thuilot, Michel Berducat. High accuracy path tracking of a four-wheel-steering all-terrain vehicle on a slippery slope. International Conference on Agricultural Engineering (AgEng), Jun 2008, Hersonissos, Greece. ⟨hal-00344837⟩

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Christophe Cariou, Roland Lenain, Benoît 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), Sep 2008, Nice, France. pp.1759--1764, ⟨10.1109/IROS.2008.4650645⟩. ⟨hal-00344829⟩

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Christophe Cariou, Roland Lenain, Benoît Thuilot, Michel Berducat. Automatic guidance of a four-wheel steering vehicle. LandTechnik conference, Sep 2008, Hohenheim, Germany. ⟨hal-00344842⟩

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Hao Fang, Ruixia Fan, Benoît Thuilot, Philippe Martinet. Lateral control of autonomous vehicles with sliding angle reconstruction. Chinese Control and Decision Conference (CCDC), Jul 2008, Yantai, China. pp.2814 - 2819, ⟨10.1109/CCDC.2008.4597839⟩. ⟨hal-00344840⟩

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Roland Lenain, Christophe Debain, Benoît Thuilot, Roland Chapuis, Michel Berducat. Accurate and reliable navigation algorithm for off-road mobile robots. International Conference on Intelligent Autonomous Systems (IAS), Jul 2008, Baden Baden, Germany. ⟨hal-00344844⟩

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Roland Lenain, Benoit Thuilot, Christophe Cariou, Philippe Martinet. Advanced path tracking control for off-road mobile robots. IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS08 - Workshop on Modeling, Estimation, Path Planning and Control of All Terrain Mobile Robots, Sep 2008, Nice, France. pp.32-40. ⟨hal-02468549⟩

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2007

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Nicolas Bouton, Roland Lenain, Benoît Thuilot, Philippe Martinet. Backstepping observer dedicated to tire cornering stiffness estimation: Application to an All Terrain Vehicle and a farm tractor. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2007, San Diego, United States. pp.1763--1768, ⟨10.1109/IROS.2007.4398988⟩. ⟨hal-00344855⟩

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Nicolas Bouton, Roland Lenain, Benoît Thuilot, Jean-Christophe Fauroux. A rollover indicator based on the prediction of the load transfer in presence of sliding: application to an all-terrain vehicle. IEEE International Conference on Robotics and Automation (ICRA), Apr 2007, Rome, Italy. pp.1158--1163, ⟨10.1109/ROBOT.2007.363141⟩. ⟨hal-00142579⟩

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Nicolas Bouton, Roland Lenain, Jean-Christophe Fauroux, Benoît Thuilot. Dynamics modeling of all-terrain vehicles designed for dynamic stability analysis. ECCOMAS Conference on Multibody Dynamics, Jun 2007, Milan, Italy. ⟨hal-00142580⟩

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2006

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Roland Lenain, Benoît Thuilot, Christophe Cariou, Philippe Martinet. Commande de véhicules en présence de glissement: application au suivi de trajectoire pour les engins agricoles. 4ième Conférence Internationale Francophone d'Automatique (CIFA), 2006, Bordeaux, France. ⟨hal-00094526⟩

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Roland Lenain, Benoît Thuilot, Christophe Cariou, Philippe Martinet. Sideslip angles observer for vehicle guidance in sliding conditions: application to agricultural path tracking tasks. Proceedings 2006 IEEE International Conference on Robotics and Automation. ICRA 2006, Orlando,USA, 15-19 May 2006, 2006, Orlando, United States. pp.3183-3188. ⟨hal-00094497⟩

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Roland Lenain, Benoît Thuilot, Christophe Cariou, Philippe Martinet, Michel Berducat, et al.. Robot mobile tout-terrain pour l'évaluation de lois de commande dédiées au suivi de trajectoire de véhicules dans le cadre de la mobilité accrue. Journées Démonstrateurs en Automatique, 2006, Angers, France. 8 p. ⟨hal-00094537⟩

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Roland Lenain, Benoît Thuilot, Christophe Cariou, Philippe Martinet. Mobile robot control in presence of sliding: application to agricultural vehicle path tracking. International IEEE Conference on Decision and Control (CDC), 2006, San Diego, United States. pp.6004--6009, ⟨10.1109/CDC.2006.377520⟩. ⟨hal-00094504⟩

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Philippe Martinet, Benoît Thuilot, Jonathan Bom. Autonomous Navigation and Platooning using a Sensory Memory. Workshop “Safe Navigation in Open and Dynamic Environments: Autonomous Systems versus Driving Assistance Systems” at IEEE International Conference on Intelligent Robots and Systems (IROS), Oct 2006, Beijing, China. ⟨hal-00344857⟩

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Benoît Thuilot, Philippe Martinet, Michel Dhome, Jean-Marc Lavest. De la navigation autonome à la navigation en convoi. Workshop "Navigation autonome de véhicules en milieu urbain - ROBEA-BODEGA", associé à RFIA'06, Jan 2006, Tours, France. ⟨hal-00102730⟩

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Benoît Thuilot, Eric Royer, François Marmoiton, Philippe Martinet, Michel Dhome, et al.. Navigation autonome de véhicules urbains par différentes modalités capteurs (RTK-GPS et vision monoculaire). Journées Démonstrateurs en Automatique, 2006, Angers, France. 8 p. ⟨hal-00094552⟩

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2005

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Jonathan Bom, Benoît Thuilot, François Marmoiton, Philippe Martinet. Nonlinear Control for Urban Vehicles Platooning, Relying upon a Unique Kinematic GPS. 2005 IEEE International Conference on Robotics and Automation, Apr 2005, Barcelona, Spain. pp.4138-4143, ⟨10.1109/ROBOT.2005.1570755⟩. ⟨hal-02467166⟩

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Jonathan Bom, Benoît Thuilot, Francois Marmoiton, Philippe Martinet. A global control strategy for urban vehicles platooning relying on nonlinear decoupling laws. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Aug 2005, Edmonton, Canada. pp.2875-2880, ⟨10.1109/IROS.2005.1545270⟩. ⟨hal-02467485⟩

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H. Fang, R. Lenain, B. Thuilot, Philippe Martinet. Trajectory tracking control of farm vehicles in presence of sliding. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Aug 2005, Edmonton, Canada. pp.58-63, ⟨10.1109/IROS.2005.1545226⟩. ⟨hal-02467320⟩

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Hao Fang, Roland Lenain, Benoît Thuilot, Philippe Martinet. Robust Adaptive Control of Automatic Guidance of Farm Vehicles in the Presence of Sliding. 2005 IEEE International Conference on Robotics and Automation, Apr 2005, Barcelona, Spain. pp.3102-3107, ⟨10.1109/ROBOT.2005.1570587⟩. ⟨hal-02467172⟩

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Rolain Lenain, Benoît Thuilot, Christophe Cariou, Philippe Martinet. Model Predictive Control for Vehicle Guidance in Presence of Sliding: Application to Farm Vehicles Path Tracking. 2005 IEEE International Conference on Robotics and Automation, Apr 2005, Barcelona, Spain. pp.885-890, ⟨10.1109/ROBOT.2005.1570229⟩. ⟨hal-02467178⟩

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Roland Lenain, Benoit Thuilot, Michel Berducat, Philippe Martinet. Adaptive and predictive control for off-road mobile robots path tracking. 3rd Swedish Workshop on Autonomous Robotics, Sep 2005, Stockholm, Sweden. ⟨hal-02467462⟩

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Roland Lenain, Benoît Thuilot, Christophe Cariou, Philippe Martinet. Suivi de trajectoire haute précision pour les véhicules tout-terrains. 9ème Journée scientifique de l'Ecole doctorale SPI (EDSPI05), Clermont-Ferrand, 27 juin 2005, Jun 2005, Clermont-Ferrand, France. pp.81-92. ⟨hal-02467241⟩

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Said Mammar, Philippe Martinet, Sébastien Glaser, Mariana Netto, Lydie Nouveliere, et al.. Méthodes de l'automatique pour l'assistance et l'automatisation de la conduite automobile. Journées Nationales de la Recherche en Robotique (JNRR05), 2005, France. pp.n.a. ⟨hal-00342833⟩

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Philippe Martinet, Jonathan Bom, Benoît Thuilot, François Marmoiton. Nonlinear control strategies for urban vehicle platooning. 2nd Korea-France Symposium on Dependable Robotic Navigation (SAFEMOVE), 2005, Suwon, South Korea. ⟨hal-00094574⟩

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Philippe Martinet, Benoît Thuilot, Jonathan Bom. From autonomous navigation to platooning in urban context. IARP-Workshop on Adaptive and Intelligent Robots : Present and Future, Russian Academy of Sciences, Nov 2005, Moscou, Russia. pp.1-9. ⟨hal-02467473⟩

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Philippe Martinet, Benoît Thuilot, Jonathan Bom. From autonomous navigation to platooning in urban context. IARP-Workshop "Adaptive and Intelligent Robots : Present and Future", 2005, Moscou, Russia. pp. 1-9. ⟨hal-00094564⟩

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Eric Royer, Jonathan Bom, Michel Dhome, Benoît Thuilot, Maxime Lhuillier, et al.. Outdoor autonomous navigation using monocular vision. Aug 2005, 6 p. ⟨hal-00118546⟩

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2004

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Roland Lenain, Benoît Thuilot, Christophe Cariou, Philippe Martinet. Navigating farm vehicle: taking slipping into account. 1st Korea-France Symposium on Dependable Robotic Navigation (SAFEMOVE), 2004, Suwon, South Korea. ⟨hal-00094581⟩

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Roland Lenain, Benoit Thuilot, Christophe Cariou, Philippe Martinet. Non-Linear control for car like mobile robots in presence of sliding: application to guidance of farm vehicles using a single RTK GPS. 35th International Symposium on Robotics ISR, Paris, 23 March 2004, Mar 2004, Paris, France. pp.6. ⟨hal-02467053⟩

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R. Lenain, B. Thuilot, C. Cariou, Philippe Martinet. Adaptive and predictive non linear control for sliding vehicle guidance - application to trajectory tracking of farm vehicles relying on a single RTK GPS. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), Oct 2004, Sendai, Japan. pp.455-460, ⟨10.1109/IROS.2004.1389394⟩. ⟨hal-02467130⟩

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Roland Lenain, Benoit Thuilot, Christophe Cariou, Philippe Martinet. A new nonlinear control for vehicle in sliding conditions: Application to automatic guidance of farm vehicles using RTK GPS. IEEE International Conference on Robotics and Automation, 2004, ICRA04, Apr 2004, New Orleans, France. pp.4381-4386 Vol.5, ⟨10.1109/ROBOT.2004.1302407⟩. ⟨hal-02467063⟩

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Philippe Martinet, Jonathan Bom, Benoît Thuilot, François Marmoiton. Accurate automatic guidance of urban electric vehicles. 1st Korea-France Symposium on Dependable Robotic Navigation (SAFEMOVE), 2004, Suwon, South Korea. ⟨hal-00094579⟩

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Benoit Thuilot, Jonathan Bom, Francois Marmoiton, Philippe Martinet. Accurate automatic guidance of an urban electric vehicle relying on a kinematic GPS sensor. Fifth IFAC Symposium on Intelligent Autonomous Vehicles, IAV'04, Jul 2004, Lisboa, Portugal. pp.155-160, ⟨10.1016/S1474-6670(17)31968-7⟩. ⟨hal-02467116⟩

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2003

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R. Lenain, B. Thuilot, C. Cariou, Philippe Martinet. Adaptive control for car like vehicles guidance relying on RTK GPS: rejection of sliding effects in agricultural applications. IEEE International Conference on Robotics and Automation. IEEE ICRA 2003, Sep 2003, Taipei, Taiwan. pp.115-120, ⟨10.1109/ROBOT.2003.1241582⟩. ⟨hal-02466451⟩

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2001

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Christophe Cariou, Benoît Thuilot, Lionel Cordesses, Philippe Martinet. CP-DGPS farm tractor control along curved path. 3rd European Conference on Precision Agriculture, ECPA'01, Jun 2001, Montpellier, France. ⟨hal-02466216⟩

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Xavier Clady, François Collange, Frédéric Jurie, Benoît Thuilot, Philippe Martinet. Détection et suivi de véhicule par vision. 18° Colloque sur le traitement du signal et des images, The Centre National d'Etudes Spatiales (CNES), Sep 2001, Toulouse, France. ⟨inria-00548283⟩

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Benoît Thuilot, Christophe Cariou, Lionel Cordesses, Philippe Martinet. Automatic guidance of a farm tractor along curved paths, using a unique CP-DGPS. IEEE-RSJ International conference on intelligent robots and systems IROS 2001, Maui Hawai, USA, 29 october-3 november 2001, Nov 2001, Maui, United States. pp.674-679, ⟨10.1109/IROS.2001.976247⟩. ⟨hal-02466214⟩

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2000

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Lionel Cordesses, Benoit Thuilot, Philippe Martinet, Christophe Cariou. Curved Path Following of a Farm Tractor Using a CP-DGPS. SYROCO'00 - 6th IFAC Symposium on Robot Control,, Sep 2000, Vienne, Austria. pp.489-494, ⟨10.1016/S1474-6670(17)37977-6⟩. ⟨hal-02465978⟩

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1999

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Lionel Cordesses, Benoît Thuilot, Philippe Martinet, Michel Berducat. GPS-Based Control of a Land Vehicle. 16th International Symposium on Automation and Robotics in Construction, Sep 1999, Madrid, France. ⟨10.22260/ISARC1999/0006⟩. ⟨hal-02465622⟩

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1998

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Philippe Martinet, Christian Thibaud, Benoît Thuilot, Jean Gallice. Robust Controller Synthesis in Automatic Guided Vehicles Applications. AVCS'98 - International Conference on Advances in Vehicle Control and Safety, Jul 1998, Amiens, France. pp.395-401. ⟨hal-02465597⟩

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Book sections

2020

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Roland Lenain, Ange Nizard, Mathieu Deremetz, Benoit Thuilot, Vianney Papot, et al.. Controlling Off-Road Bi-steerable Mobile Robots: An Adaptive Multi-control Laws Strategy. Lecture Notes in Electrical Engineering, 613, pp.344-363, 2020, ⟨10.1007/978-3-030-31993-9_17⟩. ⟨hal-03042453⟩

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2006

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Benoît Thuilot, Roland Lenain, Philippe Martinet, Christophe Cariou. Accurate GPS-based guidance of agricultural vehicles operating on slippery grounds. Liu, J. Focus on Robotics Research, Nova Science Publishers, pp.185-239, 2006, 10: 1594545944. ⟨hal-00344858⟩

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Other publications

2016

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Roland Lenain, Nicolas Bouton, Mathieu Richier, Denis Dieumet, Benoit Thuilot. METHOD FOR REDUCING THE RISK OF ROLLOVER OF AN AUTOMOTIVE VEHICLE PROVIDED WITH A CONTROLLABLE SUSPENSION SYSTEM. 2016. ⟨hal-01723796⟩

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Poster communications

2017

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Roland Lenain, Benoit Thuilot, Michel Berducat. Low cost active devices to estimate and prevent off-road vehicle from rollover. 1st AXEMA-EurAgEng Conference ``Intensive and environmentally friendly agriculture: an opportunity for innovation in machinery and systems, Feb 2017, Villepinte, France. 2017. ⟨hal-01658617⟩

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Benoit Thuilot, Ange Nizard, Francois Marmoiton. Retour d’expérience du FUI VIPAFleet : évolution autonome. 4ième Journées ``Mobilité innovante" du LabEx IMobS3 : la sécurité par et pour les véhicules autonomes (comment maîtriser les risques en environnement incertain ?), Jan 2017, Clermont-Ferrand, France. 2017. ⟨hal-01658608⟩

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2009

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N. Bouton, R. Lenain, B. Thuilot, M. Berducat, P. Martinet. An anti-rollover device dedicated to All-Terrain Vehicle lateral stability: Application to a quad bike. Symposium international « Innovation Technologiques et Systèmes de Transport ITT'09», Oct 2009, Paris, France. ENSTA - ParisTech, Association Scientifique et Technique SUPMECA, 2009. ⟨hal-02592846⟩

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Documents associated with scientific events

2009

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Philippe Martinet, J. Courbon, Y. Mezouar, B. Thuilot. Topological navigation using sensory memory: SLAN versus SLAM. Journée SLAM, Dassault-Aviation, Dec 2009, Saint-Cloud, France. ⟨hal-02468625⟩

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Proceedings

2015

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A. Nizard, B. Thuilot, R. Lenain. Estimation of longitudinal grip condition in off-road condition. IEEE International Conference on Robotics and Automation (ICRA), May 2015, Seattle, United States. IEEE, pp.3368-3373, 2015. ⟨hal-02603359⟩

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Reports

1996

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Ambarish Goswami, Benoît Thuilot, Bernard Espiau. Compass-Like Biped Robot Part I : Stability and Bifurcation of Passive Gaits. [Research Report] RR-2996, INRIA. 1996. ⟨inria-00073701⟩

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Theses

1995

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Benoît Thuilot. Contribution à la modélisation et à la commande de robots mobiles à roues. Automatique / Robotique. École Nationale Supérieure des Mines de Paris, 1995. Français. ⟨NNT : 1995ENMP0603⟩. ⟨pastel-00838914⟩

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Preprints, Working Papers, ...

2023

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Elie Randriamiarintsoa, Johann Laconte, Benoit Thuilot, Romuald Aufrère. Risk-Aware Navigation for Mobile Robots in Unknown 3D Environments. 2023. ⟨hal-04197811⟩

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