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@COMMENT{{Command line: bib2bib /home/bipop/bourgeot/Mes-Documents/Bibinputs/Mes-confs.bib}}


@INPROCEEDINGS{IROS02,
  AUTHOR = {Jean-Matthieu Bourgeot and Nathalie Cislo and Bernard Espiau},
  TITLE = {Path-Planning and Tracking in a 3D Complex Environment for an Anthropomorphic Biped Robot},
  BOOKTITLE = {Proc. of the 2002 IEEE Intl. Conf. on Intelligent Robots \& Systems},
  OPTCROSSREF = {},
  OPTKEY = {},
  PAGES = {2509-2514},
  YEAR = {2002},
  OPTEDITOR = {},
  VOLUME = {3},
  OPTNUMBER = {},
  OPTSERIES = {},
  ADDRESS = {EPFL, Lausanne, Suisse},
  MONTH = OCT,
  OPTORGANIZATION = {},
  OPTPUBLISHER = {},
  URL = {./publications/iros02-303_final.pdf},
  NOTE = {\html{}},
  OPTANNOTE = {},
  ABSTRACT = {Biped robots have specific dynamical constraints and stability problems which reduce significantly their motion range. In these conditions, motion planning used for mobile robots cannot be applied to biped robots. In this paper, the path planning problem is seen as finding a sequence of footholds in a 3D environment, keeping robot stability, motion continuity and working within the structural constraints of the biped. The designed path planner contains two parts~: The first one determines a reference path which maximises success rate in view of biped capabilities. This reference track is computed by the well know A*
search in the graphs algorithm. The second part of the path planner is a path tracking algorithm which makes the robot follow the reference track. Simulation results concern the anthropomorphic 15 degrees of freedom robot BIP2000.}
}


@INPROCEEDINGS{ESDA02,
  AUTHOR = {Jean-Matthieu Bourgeot and Bernard Brogliato},
  TITLE = {TRACKING CONTROL OF RIGID MANIPULATORS SUBJECT TO UNILATERAL CONSTRAINTS},
  BOOKTITLE = {Proc. of  6th ASME Conf. on Engineering Systems Design and Analysis},
  OPTCROSSREF = {},
  OPTKEY = {},
  OPTPAGES = {},
  YEAR = {2002},
  OPTEDITOR = {},
  OPTVOLUME = {},
  OPTNUMBER = {},
  OPTSERIES = {},
  ADDRESS = {Istanbul, Turkey},
  MONTH = JUL,
  OPTORGANIZATION = {},
  OPTPUBLISHER = {},
  NOTE = {\html{}},
  URL = {./publications/esda02-apm138.pdf},
  OPTANNOTE = {},
  ABSTRACT = { In this paper we study the tracking control of Lagrangian systems subject to frictionless unilateral constraints. More precisly it concerns a class of specific nonsmooth systems which perform cyclic impacting tasks. The stability analysis incorporates the hybrid and nonsmooth dynamical feature of the overall system. This work provides details on the conditions of existence of a such controller which guarantees an asymptotic strongly stability. Some tests in simulation give some result on the robustness of this controller. And finally it clarifies some concepts related to multiple impacting systems.}
}


@INPROCEEDINGS{ISIC02,
  AUTHOR = {Romano M. DeSantis and Jean Mathieu Bourgeot and Jean Noel Todeschi and Richard Hurteau},
  TITLE = {PATH-TRACKING FOR TRACTOR-TRAILERS WITH HITCHING OF BOTH THE ON-AXLE AND THE OFF-AXLE KIND},
  BOOKTITLE = {Proceedings of the 17th IEEE International Symposium  on Intelligent Control},
  OPTCROSSREF = {},
  OPTKEY = {},
  PAGES = {206-211},
  YEAR = {2002},
  OPTEDITOR = {},
  OPTVOLUME = {},
  OPTNUMBER = {},
  OPTSERIES = {},
  ADDRESS = {Vancouver, Canada},
  MONTH = OCT,
  OPTORGANIZATION = {},
  OPTPUBLISHER = {},
  NOTE = {\html{}},
  URL = {./publications/desantisIsico2-2.pdf},
  OPTANNOTE = {},
  ABSTRACT = {Results relevant to path-tracking control for a tractor-2-trailers vehicle with one coupling joint  on axle  and the other  off axle , are developed. In the case of off axle hitchings with a negative offset, these results are based on input/output linearization and extend controllers  design procedures already available for vehicles of which the coupling joints are all  on axle , or all  off axle . In the case of off axle hitchings with a positive offset, exact linearization is no longer applicable and the problem is solved using Jacobian linearization. Convergence and robustness properties of the ensuing controllers are illustrated by means of simulation. Extension of these results to more general tractor-n-trailers vehicles is discussed.}
}


@INPROCEEDINGS{ECC03,
  AUTHOR = {Jean-Matthieu Bourgeot and Bernard Brogliato},
  TITLE = {Tracking control of nonsmooth complementarity Lagrangian systems},
  BOOKTITLE = {Proceedings of the European Control Conference ECC'03},
  OPTCROSSREF = {},
  OPTKEY = {},
  OPTPAGES = {},
  YEAR = {2003},
  OPTEDITOR = {},
  OPTVOLUME = {},
  OPTNUMBER = {},
  OPTSERIES = {},
  ADDRESS = {University of Cambridge, UK},
  MONTH = SEP,
  OPTORGANIZATION = {},
  OPTPUBLISHER = {},
  NOTE = { \html{}},
  URL = {./publications/463ecc2003final.pdf},
  OPTANNOTE = {},
  ABSTRACT = {In this paper we study the tracking control of Lagrangian systems subject to frictionless unilateral constraints. The stability analysis incorporates the hybrid and nonsmooth dynamical feature of the overall system. The difference between tracking control for unconstrained systems and unilaterally constrained ones, is explained in terms of closed-loop desired trajectories and control signals. This work provides details on the conditions of existence of a controller which guarantees  asymptotic stability.}
}