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Thématiques de recherche
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HDR
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Composante(s) d’expertise Pôle associée(s)

RPC

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

Expertises équipes

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

Olivier Kermorgant

HDR

Enseignant chercheur / Enseignante chercheuse – Maître / maîtresse de conférences

Equipe :

Employeur : Centrale Nantes

Expertises :

Fusion de capteurs : estimation d'état et commande référencée multi-capteursRobotique marine : modélisation, rejet de perturbation, commande et perception en environnement marin

Coordonnées

Email :

Page Pro :

Adresse(s)

Centrale Nantes ( CN )
Petit Port

1, rue de la Noë Bat. S BP 92101 44321 Nantes Cedex 3

Bâtiment S, étage 4, bureau S416

Publications déposées sur HAL

Nombre de publications retournées : 53

Revues internationales avec comité de lecture

[1] O. Kermorgant, F. Chaumette. Dealing with constraints in sensor-based robot control, in IEEE Transactions on Robotics, vol. 30, no. 1, pp. 244-257, DOI

[2] O. Kermorgant. A magnetic climbing robot to perform autonomous welding in the shipbuilding industry, in Robotics and Computer-Integrated Manufacturing, vol. 53, DOI

[3] A. Khalifa, O. Kermorgant, S. Dominguez, P. Martinet. Platooning of Car-like Vehicles in Urban Environments: An Observer-based Approach Considering Actuator Dynamics and Time delays, in IEEE Transactions on Intelligent Transportation Systems, vol. 22, no. 9, pp. 5684 – 5696, DOI

[4] F. Fusco, O. Kermorgant, P. Martinet. Integrating Features Acceleration in Visual Predictive Control, in IEEE Robotics and Automation Letters, pp. 5197-5204, DOI

[5] A. Khalifa, O. Kermorgant, S. Dominguez, P. Martinet. Platooning of Car-like Vehicles in Urban Environments: Longitudinal Control Considering Actuator Dynamics, Time Delays, and Limited Communication Capabilities, in IEEE Transactions on Control Systems Technology, DOI

[6] B. Pascual-Escudero, A. Nayak, S. Briot, O. Kermorgant, P. Martinet, M. Safey El Din, F. Chaumette. Complete Singularity Analysis for the Perspective-Four-Point Problem, in International Journal of Computer Vision, vol. 129, no. 4, pp. 1217–1237, DOI

[7] D. Koung, O. Kermorgant, I. Fantoni, L. Belouaer. Cooperative multi-robot object transportation system based on hierarchical quadratic programming, in IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 6466-6472, DOI

[8] D. Pérez-Morales, O. Kermorgant, S. Domínguez-Quijada, P. Martinet. Multi-Sensor-Based Predictive Control For Autonomous Parking, in IEEE Transactions on Robotics, vol. 38, no. 2, pp. 835-851, DOI

[9] A. Colotti, J. García Fontán, A. Goldsztejn, S. Briot, F. Chaumette, O. Kermorgant, M. Safey El Din. Determination of All Stable and Unstable Equilibria for Image-Point-Based Visual Servoing, in IEEE Transactions on Robotics, vol. 40, pp. 3406-3424, DOI

[10] G. Juin-Gauthier, A. Babarit, O. Kermorgant, B. Elie, V. Frémont. Assessment and mitigation of the effects of waves and wind gusts on power production of an energy ship, in Ocean Engineering, vol. 349, pp. 124133, DOI

Conférences internationales avec comité de lecture et actes

[11] O. Kermorgant, D. Folio, F. Chaumette. A new sensor self-calibration framework from velocity measurements, in IEEE Int. Conf. on Robotics and Automation, ICRA'10, Anchorage, Alaska, états-Unis,

[12] O. Kermorgant, F. Chaumette. , in IEEE Int. Conf. on Robotics and Automation, ICRA'11, Shanghai, China, Chine,

[13] O. Kermorgant, F. Chaumette. Avoiding joint limits with a low-level fusion scheme, in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'11, San Francisco, USA, états-Unis,

[14] O. Kermorgant, F. Chaumette. Combining IBVS and PBVS to ensure the visibility constraint, in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'11, San Francisco, USA, états-Unis,

[15] T. Li, O. Kermorgant, A. Krupa. Maintaining visibility constraints during tele-echography with ultrasound visual servoing, in IEEE Int. Conf. on Robotics and Automation, Saint Paul, états-Unis,

[16] O. Kermorgant, Y. Petillot, M. Dunnigan. A global control scheme for free-floating vehicle-manipulators, in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'13, Tokyo, Japon,

[17] O. Kermorgant. , in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'13, Tokyo, Japon,

[18] O. Kermorgant. A dynamic simulator for underwater vehicle-manipulators, in International Conference on Simulation, Modeling, and Programming for Autonomous Robots Simpar, Bergamo, Italie,

[19] L. Génevé, O. Kermorgant, E. Laroche. A Composite Beacon Initialization for EKF Range-Only SLAM, in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Hamburg, Allemagne,

[20] D. Pérez-Morales, S. Domínguez-Quijada, O. Kermorgant, P. Martinet. Autonomous parking using a sensor based approach, in 8th Workshop on Planning, Perception and Navigation for Intelligent Vehicles at IEEE Int. Conf. on Intelligent Transportation Systems, Rio de Janeiro, Brésil,

[21] P. Martinet, G. Garcia, S. Dominguez-Quijada, O. Kermorgant. Keynote on Sensor based navigation, in 8th Workshop on Planning, Perception and Navigation for Intelligent Vehicles A bridge between Robotics and ITS technologies, Rio de Janeiro, Brésil,

[22] L. Génevé, É. Laroche, O. Kermorgant. Limits of Trilateration-Based Sensor Placement Algorithms, in Sensors Applications Symposium (SAS), Glassboro, états-Unis, DOI

[23] L. Génevé, A. Habed, E. Laroche, O. Kermorgant. Robust Range-Only Mapping via Sum-of-Squares Polynomials, in IFAC 2017 World Congress, Toulouse, France, DOI

[24] D. Pérez-Morales, O. Kermorgant, S. Domínguez-Quijada, P. Martinet. Autonomous Perpendicular And Parallel Parking Using Multi-Sensor Based Control, in 9th Workshop on Planning, Perception and Navigation for Intelligent Vehicles at IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vancouver, Canada,

[25] D. Pérez-Morales, O. Kermorgant, S. Domínguez-Quijada, P. Martinet. Laser-Based Control Law For Autonomous Parallel And Perpendicular Parking, in International Conference on Robotic Computing, Laguna Hills, états-Unis, DOI

[26] L. Contreras-Samamé, O. Kermorgant, P. Martinet. Efficient Decentralized Collaborative Mapping for Outdoor Environments, in International Conference on Robotic Computing, Laguna Hills, états-Unis, DOI

[27] F. Fusco, O. Kermorgant, P. Martinet. Improving Relaxation-based Constrained Path Planning via Quadratic Programming, in International Conference on Intelligent Autonomous Systems, Baden-Baden, Allemagne, DOI

[28] D. Pérez-Morales, S. Dominguez-Quijada, O. Kermorgant, P. Martinet. Multi-Sensor-Based Predictive Control for Autonomous Backward Perpendicular and Diagonal Parking, in 10th workshop on Planning, Perception and Navigation for Intelligent Vehicles at Int. Conf. on Intelligent Robots and Systems, Madrid, Espagne,

[29] F. Fusco, O. Kermorgant, P. Martinet. Constrained Path Planning using Quadratic Programming, in IROS 2018 – IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Espagne, DOI

[30] L. Contreras-Samamé, S. Dominguez-Quijada, O. Kermorgant, P. Martinet. CoMapping: Efficient 3D-Map Sharing Methodology for Decentralized cases, in 10th workshop on Planning, Perception and Navigation for Intelligent Vehicles at Int. Conf. on Intelligent Robots and Systems, Madrid, Espagne,

[31] A. Khalifa, O. Kermorgant, S. Dominguez, P. Martinet. Vehicles Platooning in Urban Environment: Consensus-based Longitudinal Control with Limited Communications Capabilities, in International Conference on Control, Automation, Robotics and Vision, Singapore, Singapour, DOI

[32] D. Pérez-Morales, O. Kermorgant, S. Dominguez-Quijada, P. Martinet. Automatic Perpendicular and Diagonal Unparking Using a Multi-Sensor-Based Control Approach, in ICARCV 2018 – The 15 th International Conference on Control, Automation, Robotics and Vision, Singapore, Singapour, DOI

[33] L. Contreras-Samamé, S. Dominguez-Quijada, O. Kermorgant, P. Martinet. CoMapping: Multi-robot Sharing and Generation of 3D-Maps applied to rural and urban scenarios, in International Conference on Control, Automation, Robotics and Vision, Singapore, Singapour, DOI

[34] A. Khalifa, O. Kermorgant, S. Dominguez, P. Martinet. Vehicles Platooning in Urban Environments: Integrated Consensus-based Longitudinal Control with Gap Closure Maneuvering and Collision Avoidance Capabilities, in ECC19 – European Control Conference, Naples, Italie, DOI

[35] F. Fusco, O. Kermorgant, P. Martinet. A Comparison of Visual Servoing from Features Velocity and Acceleration Interaction Models, in IROS 2019 – IEEE/RSJ International Conference on Intelligent Robots and Systems, Macau, Chine, DOI

[36] A. Khalifa, O. Kermorgant, S. Dominguez, P. Martinet. An Observer-based Longitudinal Control of Car-like Vehicles Platoon Navigating in an Urban Environment, in CDC 2019 – 58th IEEE Conference on Decision and Control, Nice, France, DOI

[37] F. Fusco, O. Kermorgant, P. Martinet. Integrating Features Acceleration in Visual Predictive Control, in IROS 2020 – IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas / Virtual, états-Unis, DOI

[38] D. Koung, I. Fantoni, O. Kermorgant, L. Belouaer. Consensus-based formation control and obstacle avoidance for nonholonomic multi-robot system, in International Conference on Control, Automation, Robotics and Vision (ICARCV), Shenzhen, Chine, DOI

[39] D. Pérez-Morales, O. Kermorgant, S. Domínguez-Quijada, P. Martinet. Multi-Sensor-Based Predictive Control for Autonomous Parking in Presence of Pedestrians, in ICARCV 2020 – 16th International Conference on Control, Automation, Robotics and Vision, Shenzhen, Chine, DOI

[40] H. Anuar, F. Plestan, A. Chriette, O. Kermorgant. Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator, in International Conference on Advanced Robotics, Ljubljana, Slovénie,

[41] A. Gotelli, F. Zaccaria, O. Kermorgant, S. Briot. A Gazebo Simulator for Continuum Parallel Robots, in 18th International Symposium on Advances in Robot Kinematics (ARK 2022), Bilbao, Espagne,

[42] F. Fusco, G. Allibert, O. Kermorgant, P. Martinet. Benchmarking Nonlinear Model Predictive Control with Input Parameterizations, in International Conference on Methods and Models in Automation and Robotics, Miedzyzdroje, Pologne,

[43] B. Elie, O. Kermorgant, A. Babarit, V. Fremont, J. Giovanni. Experimental validation of a dynamic model of energy ships, in 25e Congrès Français de Mécanique, Nantes, Nantes, France,

[44] H. Bin Anuar, F. Plestan, A. Chriette, O. Kermorgant. Super-Twisting Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator, in 16th International Workshop on Variable Structure Systems, Rio de Janeiro, Brésil,

[45] F. Fusco, G. Allibert, O. Kermorgant, P. Martinet. Investigating the Performances of Control Parameterizations for Nonlinear Model Predictive Control, in 17th International Conference on Control, Automation, Robotics and Vision, Singapore, Singapour, DOI

[46] G. Juin-Gauthier, A. Babarit, B. Elie, O. Kermorgant, V. Frémont. Waves filtering in heading controllers: impact on the power production of an energy ship, in IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles, Blacksburg, Virginia, états-Unis,

[47] N. Karboua, O. Kermorgant. Towards underwater docking through teaching-by-showing, in Oceans, Brest, France,

[48] A. Al Makdissi, T. Napoléon, M. Jridi, O. Kermorgant. State of the art of Vision-Language Models and Multimodal Integration for Advanced Semantic Interpretation in Marine Imaging, in Marine Imaging Workshop 2026, Gibraltar, Royaume-Uni,

[49] N. Karboua, O. Kermorgant. Fast-MPPI-IBVS : Predictive Gain and Surge Sampling for IBVS-Based Underwater Docking, in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Genova, Italie,

Ouvrages – Chapitres d'ouvrages et directions d'ouvrages

[50] F. Okoli, Y. Lang, O. Kermorgant, S. Caro. Cable-Driven Parallel Robot Simulation Using Gazebo and ROS, DOI

Theses et HDR

[51] O. Kermorgant. Fusion d'informations multi-capteurs en asservissement visuel,

[52] O. Kermorgant. Contributions à la commande des robots autonomes,

Autres publications

[53] Y. Noe, E. Sina, O. Chocron, P. Henaff, O. Kermorgant. Application of Model Predictive Control to reconfigurable propulsion AUVs for task-based adaptation, in JT GDR LIRMM 2025, Montpellier, France,

Pas de projets référencées pour l’instant

Pas de plateformes référencées pour l’instant

Pas de logiciels de référencés pour l’instant