Isabelle Fantoni

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The design of reliable navigation and control systems for Unmanned Aerial Vehicles (UAVs) based only on visual cues and inertial data has many unsolved challenging problems, ranging from hardware and software development to pure control-theoretical issues. This paper addresses these issues by developing and implementing an adaptive visionbased autopilot for(More)
The problem considered in this paper involves the design of a vision-based autopilot for small and micro Unmanned Aerial Vehicles (UAVs). The proposed autopilot is based on an optic flow-based vision system for autonomous localization and scene mapping, and a nonlinear control system for flight control and guidance. This paper focusses on the development of(More)
This paper presents recent work concerning a small tiltrotor aircraft with a reduced number of rotors. The design consists of two propellers which can tilt laterally and longitudinally. A model of the full birotor dynamics is provided, and a controller based on the backstepping procedure is synthesized for the purposes of stabilization and trajectory(More)
We consider the control of a hovercraft having only two control inputs with three degrees of freedom. The model is obtained from equations of a simpliied ship which is nonlinear and underactuated. Using a coordinate transformation the model is given by polynomial equations which describe its kinematics and dynamics. Two control laws are proposed. The rst(More)
Navigation of an Autonomous Vehicle is based on its interaction with the environment, through information acquired by sensors. The perception of the environment is a major issue in autonomous and (semi)-autonomous systems. This work presents the embedded real-time visual perception problem applied to experimental platform. In this way, a robust horizon(More)
This paper presents an original configuration for a small aerial vehicle based on three rotors with fixed-angle propellers. The process of control vectors generation is described, and a detailed mathematical modeling of the aircraft dynamics is presented. We have also proposed a control strategy for full stabilization of the tri-rotor aircraft considering(More)
In this paper, we propose a nonlinear controller for the stabilization of a rotary-wing aircraft class. The control strategy is based on nested saturation technique which results in uncoupled and explicitly-given inputs. The introduction of positive gains in the control law has permitted to take into account the coupling terms, and to improve the dynamical(More)