Organisation: ONERA and ISIR-UMPC
Website: http://www.onera.fr/en/tis and http://chair-uavs.isir.upmc.fr
Address: Chemin de la Hunière et des Joncherettes – BP 80100, 91123 Palaiseau, France
Contact: Dr. Julien Marzat (Tel: +33 1 80 38 66 50, julien.marzat(at)onera.fr)
- Sylvain Bertrand (ONERA)
- Maxime Derome (ONERA)
- Bruno Hérissé (ONERA)
- Julien Moras (ONERA)
- Romain Pepy (ONERA)
- Hélène Piet Lahanier (ONERA)
- Aurélien Plyer (ONERA)
- Martial Sanfourche (ONERA)
- Guy Le Besnerais (ONERA)
- Alexandre Eudes (ISIR-UPMC)
- Minh Duc Hua (ISIR-UPMC)
- Pascal Morin(ISIR-UPMC)
ONERA, the French aerospace lab, is conducting research studies in aerial robotics for more than ten years. In this context, the team COPERNIC is composed of research engineers and PhD students working on embedded perception and control for autonomous aerial vehicles in complex indoor environments.
ISIR (Institut des Systèmes intelligents et de Robotique) is a Robotics research lab located in the center of Paris. Since 2011, ISIR has been developing a research activity on UAVs, especially in the RTE-UPMC research chair on “Autonomous Mini-UAVs” where low-to-high level control algorithms can be implemented and evaluated experimentally on home-made UAVs.
We decided to present a common application with members of both teams to take advantage of complementary skills related to the two tracks of the challenge.
Based on previous work, sub-teams of 4 to 5 people are planned to address each of the 4 tasks of the challenge and provide sufficient availability and redundancy.
Efficient vision-based algorithms have been developed by the members of the team for SLAM, mobile object detection and environment modeling and evaluated on real systems . We have also designed guidance, control and estimation strategies that meet real-time constraints for UAVs. IMU-based observers for different types of estimation problems (attitude estimation, GPS-based navigation, visuo-inertial fusion)  and many algorithms for feedback control of VTOL UAVs with uncertainty and disturbances  have been studied. For the guidance of autonomous vehicles, methods for optimal trajectory generation and tracking with obstacle avoidance, autonomous exploration and cooperative control have been investigated .
Video links of recent work:
Some recent relevant publications:
- Rochefort Y., Piet-Lahanier H., Bertrand S., Beauvois D., Dumur D., Model predictive control of cooperative vehicles using systematic search approach, Control Engineering Practice, 2014.
- Sanfourche M., Vittori V., Le Besnerais G., eVO: a realtime embedded stereo odometry for MAV applications. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013.
- Eudes A., Morin P., Mahony R. E., Hamel T., Visuo-inertial fusion for homography-based filtering and estimation. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013.
- Hua M. D., Hamel T., Morin P., Samson C., Introduction to feedback control of underactuated VTOL vehicles: A review of basic control design ideas and principles. IEEE Control Systems, 2013.