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RPC

Autonomie décisionnelleCommande référencée-capteursEco-conception et conception bio-inspirée

Expertises équipes

Drones volants et marinsInteractions avec l’environnement / l’humainPerception et IARobotique continue

Elwan Hery

Enseignant chercheur / Enseignante chercheuse – Maître / maîtresse de conférences

Equipe :

Employeur : Centrale Nantes

Expertises :

Représentation du monde pour robots mobiles coopératifs : Fusion de données de perception, localisation, cartographie et communication pour navigation autonome.

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Publications déposées sur HAL

Nombre de publications retournées : 21

Revues internationales avec comité de lecture

[1] P. Xu, G. Dherbomez, E. Héry, A. Abidli, P. Bonnifait. System Architecture of a Driverless Electric Car in the Grand Cooperative Driving Challenge, in IEEE Intelligent Transportation Systems Magazine, vol. 10, no. 1, pp. 47-59, DOI

[2] E. Héry, P. Xu, P. Bonnifait. Localisation coopérative décentralisée pour les véhicules autonomes à partir de LiDAR, récepteurs GNSS et carte HD, in Journal of Field Robotics, vol. 38, no. 4, pp. 552-571, DOI

[3] M. Dao, J. Berrio, V. Frémont, M. Shan, E. Héry, S. Worrall, E. Héry. Practical Collaborative Perception: A Framework for Asynchronous and Multi-Agent 3D Object Detection, in IEEE Transactions on Intelligent Transportation Systems, pp. 1-13, DOI

Conférences internationales avec comité de lecture et actes

[4] E. Héry, P. Xu, P. Bonnifait. One-dimensional Cooperative Localization for Vehicles equipped with mono-frequency GNSS receivers, in European Navigation Conference (ENC 2017), Lausanne, Suisse,

[5] E. Héry, P. Xu, P. Bonnifait. Along-track Localization for Cooperative Autonomous Vehicles, in 28th IEEE Intelligent Vehicles Symposium (IV 2017), Los Angeles, CA, états-Unis, DOI

[6] E. Héry, S. Masi, P. Xu, P. Bonnifait. Map-based Curvilinear Coordinates for Autonomous Vehicles, in 20th IEEE International Conference on Intelligent Transportation Systems (ITSC 2017), Yokohama, Japon,

[7] E. Héry, P. Xu, P. Bonnifait. LiDAR based relative pose and covariance estimation for communicating vehicles exchanging a polygonal model of their shape, in 10th Workshop on Planning, Perception and Navigation for Intelligent Vehicles (PPNIV – IROS 2018), Madrid, Espagne,

[8] E. Héry, P. Xu, P. Bonnifait. Pose and covariance matrix propagation issues in cooperative localization with LiDAR perception, in 30th IEEE Intelligent Vehicles Symposium (IV 2019), Paris, France,

[9] E. Héry, P. Xu, P. Bonnifait. Distributed asynchronous cooperative localization with inaccurate GNSS positions, in 22nd IEEE International Conference on Intelligent Transportation Systems (ITSC 2019), Auckland, Nouvelle-Zélande,

[10] M. Dao, E. Héry, V. Frémont. Attention-based Proposals Refinement for 3D Object Detection, in 2022 IEEE Intelligent Vehicles Symposium (IV), Aachen, Allemagne, DOI

[11] M. Dao, V. Frémont, E. Héry. Aligning Bird-Eye View Representation of Point Cloud Sequences using Scene Flow, in 2023 IEEE Intelligent Vehicles Symposium (IV), Anchorage, états-Unis, DOI

[12] H. Roy, E. Héry, R. Kubo. Docking Control and Priority Scheduling for Single Battery Charging Station with Multiple Mobile Robots, in Mecatronics & AISM (Asia International Symposium on Mechatronics), Yokohama, Japon,

[13] E. Héry, P. Xu, P. Bonnifait. A Study of Different Observation Models for Cooperative Localization in Platoons, in 26th IEEE International Conference on Intelligent Transportation Systems (ITSC 2023), Bilbao, Espagne, DOI

[14] C. Beaune, E. Héry, V. Frémont, A. Sgorbissa, C. Recchiuto. Collaborative Navigation Strategies Based on Vehicles Features in Connected Environments, in 2023 IEEE International Conference on Service Operations and Logistics, and Informatics (SOLI), Singapore (SG), Singapour,

[15] H. Bouvier-Lambert, E. Héry, V. Frémont, N. Rizoug, F. Khenfri. A Model-Based Informed Eco-Routing Method for Electric Vehicles in Urban Environments, in Forum for Innovative Sustainable Transportation Systems (FISTS), Riverside, états-Unis, DOI

[16] S. Oubouabdellah, E. Héry, J. Moreau, V. Frémont. BFS-Based Weighted Late Fusion for 3D Object LiDAR Detection in V2X Systems, in International Conference on the AI Revolution: Research, Ethics, and Society (AIR-RES 2025), Las Vegas, états-Unis, DOI

[17] C. Beaune, E. Héry, V. Frémont. Risk-Aware Nonlinear Model Predictive Control for Autonomous Navigation: Confidence-Based Obstacle Constraints and Time-To-Collision Safe Trajectory Planning, in 2025 IEEE Intelligent Vehicles Symposium (IV), Cluj-Napoca, Roumanie, DOI

[18] C. Beaune, E. Héry, V. Frémont. Time-To-Collision Constrained NMPC for Connected and Autonomous Vehicles, in IEEE International Conference on Intelligent Transportation Systems (ITSC 2025), Gold Coast, Australie,

[19] S. Oubouabdellah, M. Dao, E. Malis, E. Héry, J. Moreau, V. Frémont. Improving Vulnerable Road-Users Detection through Hybrid Collaborative Perception and Detection Refinement, in 28th IEEE International Conference on Intelligent Transportation Systems (ITSC 2025), Gold coast, Australie, DOI

[20] N. Pigret, B. Englot, E. Héry, V. Frémont. A Lightweight Hybrid Framework for Active Multi-Agent SLAM, in 2026 IEEE International Conference On Multisensor Fusion And Integration, Pilsen, République tchèque,

Theses et HDR

[21] E. Héry. Localisation coopérative de véhicules autonomes communicants, DOI

CoDyMAV – Cooperative Dynamic Map for Autonomous Vehicles

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