Henry de Plinval

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The paper addresses the control of Vertical Take Off and Landing (VTOL) Underactuated Autonomous Vehicles (UAVs) in hover flight, based on measurements provided by an on-board video camera and rate gyros. The objective is to stabilize the vehicle to the pose associated with a visual image of a planar target. By using the homography matrix computed from the(More)
The paper concerns the control of Vertical Take Off and Landing (VTOL) Underactuated Aerial Vehicles (UAVs) in hover flight, based on measurements provided by an on-board video camera. The objective is to stabilize the vehicle to the equilibrium pose associated with an image of a planar target, using a minimal sensor suite and poor knowledge of the(More)
— The paper concerns the stabilization of thrust-propelled underactuated vehicles in the context of sensor-based control. First, a class of nonlinear feedback laws that ensure semi-global stabilization despite possibly large uncertainties on the position measurements is proposed. Then, application to the visual servoing of a Vertical TakeOff and Landing(More)
In this paper we propose a vision based flight control law for the automatic landing of an aircraft. Newly defined visual features obtained by a 2D-video camera embed the needed information about the relative pose between the aircraft and the runway. To cope with their dependence on the unknown distance to the ground, a depth estimation algorithm is(More)
This paper proposes a key feature for vision based automatic landing of a UAV: the addition to a given control law of the constraint that a given ground point be maintained in the camera field of view (FoV). This feature is an application case of an output constraint method recently developed and available for any nonlinear system. This method is based on(More)
A novel approach for reconfigurable control systems design against sensor and actuator faults is proposed. The scheme is based on an estimation of the state and of the fault parameters, and on a Partially Observable Markov Decision Process (POMDP), used for the decision task of the feedback controller. The following fault types are considered: locking and(More)
This paper concerns the control of Vertical TakeOff and Landing (VTOL) Unmanned Aerial Vechicles (UAVs) based on exteroceptive measurements obtained from a mono-camera vision system. By assuming the existence of a locally planar structure in the field of view of the UAV's camera, the so-called homography matrix can be used to represent the vehicle's motion(More)
N owadays, cameras and other exteroceptive sensors are on board of a large variety of automatic platforms, such as Unmanned Aerial Vehicles (UAV), space exploration probes and missiles. However, apart from this latter application, they are mostly used as payload and not to pilot the vehicle itself. In this paper, we focus on the use of computer vision for(More)
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