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Laboratoire de recherche
UMR 6602 - UCA/CNRS/SIGMA

Annuaire

Thuilot Benoit


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Fonction : Enseignant chercheur (Permanent Ip)
Axe : Ispr
Thème : Maccs
Téléphone : +33473405211
Fax : +33 4 7340 7262



Publications associées :
153 publication trouvées


2016
ACL
DENIS D., THUILOT B., LENAIN R.
Online adaptive observer for rollover avoidance of reconfigurable agricultural vehicles



BRACONNIER J., LENAIN R., THUILOT B., ROUSSEAU V.
Robust sideslip angles observer for accurate off-road path tracking control



ACTI
BRACONNIER J., LENAIN R., THUILOT B., ROUSSEAU V.
High speed path tracking application in harsh conditions: Predictive speed control to restrict the lateral deviation to some threshold



ROYER E., MARMOITON F., ALIZON S., RAMADASAN D., SLADE M., NIZARD A., DHOME M., THUILOT B., BONJEAN F.
Lessons learned after more than 1000 km in an autonomous shuttle guided by vision



NIZARD A., THUILOT B., LENAIN R., MEZOUAR Y.
Nonlinear Path Tracking Controller for Bi-Steerable Vehicles in Cluttered Environments



DENIS D., THUILOT B., LENAIN R., RICHIER M., BOUTON N.
Real Time Control Stability Algorithm for reducing Off-road Vehicles Rollover Propensity



ACTN
ROYER E., MARMOITON F., ALIZON S., RAMADASAN D., SLADE M., NIZARD A., DHOME M., THUILOT B., BONJEAN F.
Retour d'expérience après plus de 1000 Km en navette sans conducteur guidée par vision



COM
THUILOT B., ROUSSEAU V., ADOUANE L., DEBAIN C., LENAIN R., MEZOUAR Y.
Stratégie de contrôle pour la coopération de robots mobiles



2015
ACTI
GUILLET A., BENET B., LENAIN R., CARIOU C., THUILOT B.
Control of autonomous off-road vehicles in formation for agricultural operations



DENIS D., NIZARD A., THUILOT B., LENAIN R.
Slip and Cornering Stiffnesses Observation for the Stability Assessment of Off-road Vehicles



NIZARD A., THUILOT B., LENAIN R.
Tire longitudinal grip estimation for improved safety of vehicles in off-road conditions



RICHIER M., DENIS D., LENAIN R., THUILOT B.
Vehicle rollover prevention by speed limitation: application to light ATV moving off-road



AFF
MARMOITON F., ALIZON S., RAMADASAN D., SLADE M., NIZARD A., ROYER E., DHOME M., THUILOT B., BONJEAN F.
1000 Km en navette sans conducteur guidée par vision



2014
ACL
GUILLET A., LENAIN R., THUILOT B., MARTINET P.
Adaptable robot formation control: Adaptive and Predictive Formation Control of Autonomous Vehicles



ACTI
LENAIN R., THUILOT B., GUILLET A., BENET B.
Accurate target tracking control for a mobile robot: a robust adaptive approach for off-road motion



BRACONNIER J., LENAIN R., THUILOT B.
Ensuring path tracking stability of mobile robots in harsh conditions: An adaptive and predictive velocity control



LENAIN R., GUILLET A., THUILOT B., CARIOU C.
Formation control of off-road fleet of UGVs: issues, advances and applications



GUILLET A., LENAIN R., THUILOT B., BERDUCAT M.
Longitudinal control of mobile robots in formation during path tracking



COM
NIZARD A., THUILOT B., MEZOUAR Y.
Commande d'un véhicule à deux trains directeurs en milieu encombré



DENIS D., LENAIN R., THUILOT B., BERDUCAT M.
Estimation et anticipation des risques de perte d´int\'egrit\'e de machine \'evoluant en milieux tout-terrains



2013
ACTI
CARTADE P., BRACONNIER J., LENAIN R., THUILOT B.
Adaptive and predictive control of a mobile robots fleet: Application to off-road formation regulation



LENAIN R., RICHIER M., BRACONNIER J., CARIOU C., THUILOT B.
High speed and safe mobile robot control in unstructured environments



GUILLET A., LENAIN R., THUILOT B.
Off-road path tracking of a fleet of WMR with adaptive and predictive control



RICHIER M., LENAIN R., THUILOT B., DEBAIN C.
Rollover prevention during aggressive driving thanks to multi-model observer. Application to ATVs in off-road context



AVANZINI P., ROYER E., THUILOT B., DERUTIN J.
Using monocular visual SLAM to manually convoy a fleet of automatic urban vehicles



ACTN
ADOUANE L., AUFRERE R., AVANZINI P., BRESSON G., CHAPUIS R., DERUTIN J., ROYER E., THUILOT B., VITAVENTURA M., DAFFLON B., ELZAHER M., GECHTER F., GUERIAU M., GRUER P., KOUKAM A., DEBAIN C., LENAIN R., BENCHOAIB M., BARREIRO J.
SafePlatoon: Sûreté de Convois de Véhicules Autonomes



2012
ACTI
RICHIER M., LENAIN R., THUILOT B., BERDUCAT M.
ATV rollover prevention system including varying grip conditions and bank angle



CARTADE P., LENAIN R., THUILOT B., BERDUCAT M.
Algorithmes pour la commande d'une formation de robots mobiles



CARIOU C., LENAIN R., THUILOT B., BERDUCAT M.
Automatic guidance of an off-road mobile robot with a trailer Application to the control of agricultural passive towed implements



LENAIN R., CARTADE P., THUILOT B., DELMAS P., BERDUCAT M.
Development of Robotics Tools for Agricultural Task Achievement: the example of robot formation control



RICHIER M., LENAIN R., THUILOT B., DEBAIN C.
Dual back-stepping observer to anticipate the rollover risk in under/over-steering situations. Application to ATVs in off-road context



CARTADE P., LENAIN R., THUILOT B., BERDUCAT M.
Formation control algorithm for a fleet of mobile robots



AVANZINI P., THUILOT B., MARTINET P.
Manual convoying of automated urban vehicles relying on monocular vision



LENAIN R., THUILOT B.
Mobile robot control on uneven and slippery ground: an adaptive approach based on a multi-model observer



CARTADE P., LENAIN R., THUILOT B., BENET B., BERDUCAT M.
Motion Control of a heterogeneous fleet of mobile robots: Formation control for achieving agriculture task



LENAIN R., THUILOT B., BOUTON N., MARTINET P.
Off-road mobile robot control: an adaptive approach for accuracy and integrity



LENAIN R., THUILOT B., CARIOU C., BOUTON N., BERDUCAT M.
Off-road mobile robots control: an accurate and stable adaptive approach



RICHIER M., LENAIN R., THUILOT B., DEBAIN C.
Preservation of stability of automated off-road robots: application to adaptive and predictive speed management



DENIS D., THUILOT B., LENAIN R., BERDUCAT M.
Preserving stability of huge agriculture machines with internal mobilities: Application to a grape harvester



DENIS D., THUILOT B., LENAIN R., BERDUCAT M.
Preserving stability of huge agriculture machines with internal mobilities: Application to a grape harvester.



RICHIER M., LENAIN R., THUILOT B., DEBAIN C.
Robust multi-model observer dedicated to the rollover prevention. Application to ATVs in off-road context



RICHIER M., LENAIN R., THUILOT B., DEBAIN C.
Rollover Prevention System dedicated to ATVs on Natural Ground



RICHIER M., LENAIN R., THUILOT B., DEBAIN C.
Système de prévention du risque de renversement latéral pour des véhicules évoluant en milieu naturel



2011
ACL
FANG H., DOU L., CHEN J., LENAIN R., THUILOT B., MARTINET P.
Robust anti-sliding control of autonomous vehicles in presence of lateral disturbances



ACTI
AVANZINI P., THUILOT B., MARTINET P.
A control strategy taking advantage of inter-vehicle communication for platooning navigation in urban environment



HACH O., LENAIN R., THUILOT B., MARTINET P.
Avoiding steering actuator saturation in off-road mobile robot path tracking via predictive velocity control



LENAIN R., BERDUCAT M., CARTADE P., THUILOT B.
Co-ordination of Multiple robots in outdoor environments



LENAIN R., THUILOT B., HACH O., MARTINET P.
High-speed mobile robot control in off-road conditions: a multi-model based adaptive approach



LENAIN R., THUILOT B., CARIOU C., MARTINET P.
Mobile robot control : Generic algorithm for high accurate trajectory control in different conditions



RICHIER M., LENAIN R., THUILOT B., DEBAIN C.
On-line estimation of a stability metric including grip conditions and slope: Application to rollover prevention for All-Terrain Vehicles



2010
ACL
LENAIN R., THUILOT B., CARIOU C., MARTINET P.
Mixed Kinematic and Dynamic Sideslip Angle Observer for Accurate Control of Fast Off-Road Mobile Robots



ACTI
AVANZINI P., THUILOT B., ROYER E., MARTINET P.
A global decentralized control strategy for urban vehicle platooning relying solely on monocular vision



BOUTON N., LENAIN R., THUILOT B., MARTINET P.
A new device dedicated to autonomous mobile robot dynamic stability: application to an off-road mobile robot



LENAIN R., LUCET E., GRAND C., THUILOT B., BENAMAR F.
Accurate and stable mobile robot path tracking algorithm: an integrated solution for off-road and high speed context



AVANZINI P., THUILOT B., MARTINET P.
Accurate platoon control of urban vehicles, based solely on monocular vision



LENAIN R., PREYNAT J., THUILOT B., AVANZINI P., MARTINET P.
Adaptive formation control of a fleet of mobile robots: application to autonomous field operations



CARIOU C., LENAIN R., THUILOT B., BERDUCAT M.
Autonomous Maneuvers of a farm vehicle with a trailed implement in headland



CARIOU C., LENAIN R., THUILOT B., MARTINET P.
Autonomous maneuver of a farm vehicle with a trailed implement: motion planner and lateral-longitudinal controllers



MARTINET P., LENAIN R., THUILOT B., HACH O., BERDUCAT M.
Control of robot under sliding conditions and high speed



CARIOU C., LENAIN R., THUILOT B., HUMBERT T., BERDUCAT M.
Maneuvers automation for agricultural vehicle in headland



LENAIN R., THUILOT B., BERDUCAT M., MARTINET P.
Multi-robots formation in outdoors environment



BOUTON N., LENAIN R., THUILOT B., MARTINET P., BERDUCAT M.
New active safety device dedicated to light all-terrain vehicle stability: Application to quad bike and off-road mobile robot



CARIOU C., LENAIN R., THUILOT B., MARTINET P.
Path following of a vehicle-trailer system in presence of sliding: application to automatic guidance of a towed agricultural implement



INV
MARTINET P., THUILOT B., ADOUANE L., MEZOUAR Y.
Towards an Urban Cooperative and Autonomous Navigation System



2009
ACL
CARIOU C., LENAIN R., THUILOT B., BERDUCAT M.
Automatic guidance of a four-wheel-steering mobile robot for accurate field operations



ACTI
CARIOU C., LENAIN R., THUILOT B., BERDUCAT M.
An Automatic guidance of agricultural vehicles in headlands: maneuvers generation and motion control



BOUTON N., LENAIN R., THUILOT B., MARTINET P.
An active anti-rollover device based on Predictive Functional Control: Application to an All-Terrain Vehicle



BOUTON N., LENAIN R., THUILOT B., BERDUCAT M.
An anti-rollover device dedicated to All-Terrain Vehicle lateral stability: Application to a quad bike



CARIOU C., LENAIN R., THUILOT B., MARTINET P.
Automatic reverse turn of agricultural vehicles: a predictive approach



CARIOU C., LENAIN R., THUILOT B., MARTINET P.
Motion planner and lateral-longitudinal controllers for autonomous maneuvers of a farm vehicle in headland



LENAIN R., THUILOT B., CARIOU C., MARTINET P.
Multi-models based sideslip angles observer: Accurate control of high-speed mobile robots in off-road conditions



AVANZINI P., THUILOT B., MARTINET P.
Obstacle Avoidance and Trajectory Replanification for a Group of Communicating Vehicles



AVANZINI P., THUILOT B., DALLEJ T., MARTINET P., DERUTIN J.
On-line reference trajectory generation for manually convoying a platoon of automatic urban vehicles



INV
THUILOT B., LENAIN R., MARTINET P., BERDUCAT M.
Véhicules urbains et en environnement naturel au LASMEA et Cemagref



COM
MARTINET P., THUILOT B., AVANZINI P.
Last results on platooning



LENAIN R., THUILOT B., CARIOU C., MARTINET P.
Model-based adaptive path tracking control for off-road and high speed path tracking



2008
ACL
BOUTON N., LENAIN R., THUILOT B., MARTINET P.
A tire stiffness backstepping observer dedicated to all-terrain vehicle rollover prevention



ACTI
AVANZINI P., ROYER E., THUILOT B., MARTINET P.
A global decentralized control strategy for urban vehicle platooning using monocular vision and a laser rangefinder



BOUTON N., LENAIN R., THUILOT B., MARTINET P.
A rollover indicator based on a tire stiffness backstepping observer: application to an all-terrain vehicle



BOUTON N., LENAIN R., THUILOT B., BERDUCAT M.
A rollover indicator dedicated to all-terrain vehicles including sliding effects and pilot behavior



CARIOU C., LENAIN R., THUILOT B., MARTINET P.
Adaptive control of four-wheel-steering off-road mobile robots: application to path tracking and heading control in presence of sliding



LENAIN R., THUILOT B., CARIOU C., MARTINET P.
Advanced path tracking control for off-road mobile robots



CARIOU C., LENAIN R., THUILOT B., BERDUCAT M.
Automatic guidance of a four-wheel steering vehicle



CARIOU C., LENAIN R., THUILOT B., MARTINET P.
Commande d'un véhicule à 4 roues directrices en milieu naturel: application au suivi de trajectoires pour les engins agricoles



BOUTON N., LENAIN R., THUILOT B., BERDUCAT M.
Développement d'un indicateur de risque de renversement destiné aux véhicules tout-terrain



CARIOU C., LENAIN R., THUILOT B., BERDUCAT M.
High accuracy path tracking of a four-wheel-steering all-terrain vehicle on a slippery slope



FANG H., FAN X., THUILOT B., MARTINET P.
Lateral control of autonomous vehicles with sliding angle reconstruction



2007
ACL
LENAIN R., THUILOT B., CARIOU C., MARTINET P.
Adaptive and predictive path tracking control for off-road mobile robots



ACLN
LENAIN R., THUILOT B., BERDUCAT M., MARTINET P.
Commande de véhicules en présence de glissement. Application au suivi de trajectoire pour les engins agricoles



ACTI
BOUTON N., LENAIN R., THUILOT B., FAUROUX J.
A rollover indicator based on the prediction of the load transfer in presence of sliding: application to an all-terrain vehicle



BOUTON N., LENAIN R., THUILOT B., FAUROUX J.
An overturning indicator based on the prediction of the load transfer in presence of sliding :



BOUTON N., LENAIN R., THUILOT B., MARTINET P.
Backstepping observer dedicated to tire cornering stiffness estimation: Application to an All Terrain Vehicle and a farm tractor



BOUTON N., LENAIN R., FAUROUX J., THUILOT B.
Dynamic modeling of all terrain vehicles designes for dynamic stability analysis



BOUTON N., LENAIN R., FAUROUX J., THUILOT B.
Dynamics modeling of all-terrain vehicles designed for dynamic stability analysis



2006
ACL
THUILOT B., LENAIN R., MARTINET P., CARIOU C.
Accurate GPS-based guidance of agricultural vehicles operating on slippery grounds



LENAIN R., THUILOT B., CARIOU C., MARTINET P.
High accuracy path tracking for vehicles in presence of sliding: Application to farm vehicle automatic guidance for agricultural tasks



FANG H., FAN R., THUILOT B., MARTINET P.
Trajectory Tracking Control of Farm Vehicles in Presence of Sliding



OS
THUILOT B., LENAIN R., MARTINET P., CARIOU C.
Focus on Robotics Research



ACTI
MARTINET P., THUILOT B., BOM J.
Autonomous Navigation and Platooning using a Sensory Memory



LENAIN R., THUILOT B., CARIOU C., MARTINET P.
Commande de véhicules en présence de glissement : application au suivi de trajectoire pour les engins agricoles



LENAIN R., THUILOT B., CARIOU C., MARTINET P.
Mobile robots control in presence of sliding : Application to agricultural vehicle path tracking



LENAIN R., THUILOT B., CARIOU C., MARTINET P.
Sideslip angles observer for vehicle guidance in sliding conditions



ACTN
THUILOT B., ROYER E., MARMOITON F., MARTINET P., DHOME M., LHUILLIER M., LAVEST J., MALATERRE L., ALIZON S., TRASSOUDAINE L., DERUTIN J.
Navigation autonome de véhicules urbains par différentes modalités capteurs (RTK-GPS et vision monoculaire)



LENAIN R., THUILOT B., CARIOU C., MARTINET P., BERDUCAT M., CHAPUIS R., CHAUSSE F., TESSIER C., DEBAIN C.
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



COM
THUILOT B., MARTINET P., DHOME M., LAVEST J.
De la navigation autonome à la navigation en convoi



2005
ACTI
BOM J., THUILOT B., MARMOITON F., MARTINET P.
A Global Control Strategy for Urban Vehicles Platooning relying on Nonlinear Decoupling Laws



LENAIN R., THUILOT B., BERDUCAT M., MARTINET P.
Adaptive and Predictive Control for Off-road Mobile Robots Path Tracking



MARTINET P., THUILOT B., BOM J.
From autonomous navigation to platooning in urban context



LENAIN R., THUILOT B., CARIOU C., MARTINET P.
Model Predictive Control of vehicle in presence of sliding : Application to farm vehicles path tracking



BOM J., THUILOT B., MARMOITON F., MARTINET P.
Nonlinear control for urban vehicles platooning, relying upon a unique kinematic GPS



ROYER E., BOM J., DHOME M., THUILOT B., LHUILLIER M., MARMOITON F.
Outdoor autonomous navigation using monocular vision



FANG H., LENAIN R., THUILOT B., MARTINET P.
Robust Adaptive Control of Automatic Guidance of Farm Vehicles in the Presence of Sliding



FANG H., LENAIN R., THUILOT B., MARTINET P.
Trajectory Tracking Control of Farm Vehicles in Presence of Sliding



ACTN
MAMMAR S., MARTINET P., GLASER S., NETTO M., THUILOT B.
Méthodes de l'automatique pour l'assistance et l'automatisation de la conduite automobile



COM
MARTINET P., BOM J., THUILOT B., MARMOITON F.
Nonlinear Control strategies for Urban Vehicles Platooning



LENAIN R., THUILOT B., CARIOU C., MARTINET P.
Suivi de trajectoire haute précision pour les véhicules tout-terrains



BOM J., THUILOT B., MARMOITON F., MARTINET P.
Une Stratégie de Commande Globale pour le Convoi de Véhicules Urbains basée sur des Lois de Commande Découplées Non-Linéaires



2004
ACTI
LENAIN R., THUILOT B., CARIOU C., MARTINET P.
A new nonlinear control for vehicle in sliding conditions: Application to automatic guidance of farm vehicles using RTK GPS



THUILOT B., BOM J., MARMOINTON F., MARTINET P.
Accurate automatic guidance of an urban electric vehicle relying on a kinematic GPS sensor



LENAIN R., THUILOT B., CARIOU C., MARTINET P.
Adaptive and predictive nonlinear control for sliding vehicle guidance : Application to trajectory tracking of farm vehicles relying on a single RTK GPS



LENAIN R., THUILOT B., CARIOU C., MARTINET P.
Non-Linear control for car like mobile robots in presence of sliding : Application to guidance of farm vehicles using a single RTK-GPS



FANG H., LENAIN R., THUILOT B., MARTINET P.
Sliding mode control of automatic guidance farm vehicles in the presence of sliding



COM
MARTINET P., BOM J., THUILOT B., MARMOINTON F.
Accurate automatic guidance of urban electric vehicles



LENAIN R., THUILOT B., CARIOU C., MARTINET P.
Navigating farm vehicles taking slipping into account



2003
ACL
CARIOU C., THUILOT B., MARTINET P., BERDUCAT M.
Guidage automatique d'un engin agricole par GPS cinématique



ACTI
LENAIN R., THUILOT B., CARIOU C., MARTINET P.
Adaptive control for car like vehicles guidance relying on RTK GPS: rejection of sliding effects in agricultural applications



LENAIN R., THUILOT B., CARIOU C., MARTINET P.
Rejection of sliding effects on car like robot control: application to farm vehicle guidance using a single RTK-GPS sensor



ACTN
BOM J., THUILOT B., MARMOITON F., MARTINET P.
Guidage latéral d'un véhicule urbain électrique de type Cycab, à partir des informations fournies par un récepteur GPS cinématique



COM
CARIOU C., BERDUCAT M., LENAIN R., THUILOT B.
Automatic guidance of farm vehicles relying on a RTK GPS



LENAIN R., THUILOT B., CARIOU C., MARTINET P.
Guidage de véhicules par un unique GPS cinématique en présence de glissement: application au guidage automatique d'engins agricoles



BOUZGARROU B., THUILOT B., RAY P., GOGU G.
Modélisation et commande d'une machine UTGV à cinématique parallèle



2002
ACL
THUILOT B., CARIOU C., MARTINET P., BERDUCAT M.
Automatic guidance of a farm tractor relying on a single CP-DGPS



BOUZGARROU B., THUILOT B., RAY P., GOGU G.
Modélisation des manipulateurs flexibles appliquée aux machines outils UTGV



ACTI
THUILOT B., MARTINET P., CORDESSES L., GALLICE J.
Position based visual servoing : keeping the object in the field of vision



ACTN
BOUZGARROU C., RAY P., GOGU G., THUILOT B.
Commande non-linéaire d'une machine outil à architecture parallèle



2001
ACTI
THUILOT B., CARIOU C., CORDESSES L., MARTINET P.
Automatic guidance of a farm tractor along curved paths, using a unique CP-DGPS



BOUZGARROU C., THUILOT B., RAY P., GOGU G.
Modelling and Control of HSM Machine Tool with Parallel Kinematics



ACTN
CLADY X., COLLANGE F., JURIE F., THUILOT B., MARTINET P.
Détection et suivi de véhicules par vision



BOUZGARROU C., THUILOT B., RAY P., GOGU G.
Modélisation des manipulateurs flexibles appliquée aux machines outils UTGV



BOUZGARROU C., THUILOT B., RAY P., GOGU G.
Modélisation et commande d'une machine UTGV à cinématique parallèle



COM
BOUZGARROU B., THUILOT B., RAY P., GOGU G.
Résolution du problème géométrique inverse d'un robot flexible



2000
ACTI
CORDESSES L., THUILOT B., MARTINET P., CARIOU C.
Curved path following of a farm tractor using a CP-DGPS



1999
CORDESSES L., MARTINET P., THUILOT B., BERDUCAT M.
Gps based control of a land vehicle



1998
ACL
GOSWAMI A., THUILOT B., ESPIAU B.
A study of the passive gait of a compass-like biped robot: symmetry and chaos



ACTI
MARTINET P., THIBAUD C., THUILOT B., GALLICE J.
Robust controller synthesis in automatic guided vehicles applications



1997
THUILOT B., GOSWAMI A., ESPIAU B.
Bifurcation and chaos in a simple passive bipedal gait



GENOT F., BROGLIATO B., BRACH R., THUILOT B.
On LCPs and Tangential Impacts in Rigid Body Mechanics with Unilateral Constraints and Dry Friction



1996
ACL
THUILOT B., ANDREANOVEL B., MICAELLI A.
Modeling and feedback control of mobile robots equipped with several steering wheels



AP
GOSWAMI A., THUILOT B., ESPIAU B.
Compass-Like Biped Robot Part~I~: Stability and Bifurcation of Passive Gaits



1995
THE
THUILOT B.
Contribution à la modélisation et à la commande de robots mobiles à roues



1992
ACTI
POMET J., THUILOT B., BASTIN G., CAMPION G.
A hybrid strategy for the feedback stabilization of nonholonomic mobile robots



MICAELLI A., ANDREANOVEL B., THUILOT B.
Modeling and asymptotic stabilization of mobile robots equipped with two or more steering wheels



1991
THE
THUILOT B.
Simulation et commande de robots mobiles





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