Gaëtan Garcia

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For precise localization of outdoor mobile robots, RealTime Kinematic Global Positioning System (RTK GPS) has obvious advantages: position data are given with centimeter-accuracy, and the required infrastructure is reduced to a sole fixed reference station. Yet, the use of this solution arises a number of issues, such as satellite maskings, or the existence(More)
This paper addresses the stabilization problem of singularly perturbed systems subject to actuator saturation. A solution in terms of linear matrix inequalities is proposed. The saturation is represented by means of a modified sector nonlinearity. The numerical problems due to the ill conditioning of the system model are avoided using a non-decoupling(More)
A two-dimensional (2-D) mobile robot localization system which uses odometry and the azimuth angles of known landmarks is presented. Observability analysis helps to determine situations where such a system may undergo difficulties, and gives information on its behavior when one of the beacons is hidden. Experimental results are presented.
We present a localization system which computes, by extended Kalman filtering, the position and heading of a vehicle using both odometry and the measurement of the relative azimuth angles of known landmarks. Observability of the continuous system is studied and gives information on situations where the performance of the filter may deteriorate. Results of(More)
Optimizing the inter-distances between vehicles is very important to reduce traffic congestion on highways. Variable spacing and constant spacing are the two policies for the longitudinal control of platoons. Variable spacing doesn't require a lot of data (position, speed...) from other vehicles, and string stability can be obtained using on-board(More)
Heavy traffic on highways requires the optimization of inter-distances between vehicles in order to reach time performance and to provide safety solution in transport. Variable spacing and constant spacing are the two policies for the longitudinal control of platoon. Variable spacing doesn’t require a lot of data (position, speed...) from other vehicles,(More)
An operator-aiding system for compactors must incorporate a localization system. In this paper, we consider Real-Time Kinematic GPS and we present the solutions we have developed to maintain the positioning error lower than 0.2 m even during the satellite (limited) masking phases. By combining gyro, steering angle and speed measurements, we show that it is(More)
This paper deals with the determination of the full 3D position and spatial orientation of a mobile robot from six azimuth and elevation angle measurements provided by an automatic theodolite. Stochastic approaches have already proved to be interesting for navigation algorithms, but they require a reliable initial estimation of the vehicle posture.(More)