Fabio Morbidi (Equipe PR) soutient son Habilitation à diriger les recherches le mercredi 31 janvier 2024 à 10h00 dans la salle de thèse de l’Ecole Doctorale Sciences, Technologies et Santé de l’UPJV, 32 rue des Minimes, Amiens.
Résumé de la thèse
This HDR thesis presents a summary of my original contributions on the coordination of multiple autonomous vehicles. In particular, the
manuscript retraces my work since the PhD thesis, where I studied leader-follower formations of nonholonomic robots and the visibility-maintenance
problem, until today. This shows the evolution of my centers of interest and the continuity of my research activity. In the manuscript,
special attention is given to the formation control problem - in the presence of sensing, communication, and kinematic constraints of the
robots - and to distributed control based on new variants of the consensus protocol (deformed consensus, subspace projectors for state-constrained
consensus). The different application scenarios considered (environmental monitoring, active target tracking, 3D reconstruction of
unknown environments), were motivated by the national and international research projects in which I was involved, and which I had
the opportunity to coordinate in the last decade. The innovative contributions of young researchers (PhD students), which I co-supervised
during this period, are also highlighted. The HDR thesis concludes by presenting several open problems and by discussing some promising
research directions that I plan to explore at the MIS laboratory of the University of Picardie Jules Verne, in the years to come.
Jury
El Mustapha MOUADDIB, Parrain HDR, PU, Université de Picardie Jules Verne
Simon LACROIX, Rapporteur, DR CNRS, LAAS-CNRS Toulouse
Youcef MEZOUAR, Rapporteur, PU, Université Clermont Auvergne
Olivier SIMONIN, Rapporteur, PU, INSA de Lyon
Paolo ROBUFFO GIORDANO, Examinateur, DR CNRS, IRISA/INRIA Rennes
Véronique CHERFAOUI, Examinatrice, PU, Université de Technologie de Compiègne
Pascal VASSEUR, Examinateur, PU, Université de Picardie Jules Verne
La soutenance se tiendra en français.
