Publications

Liste des publications de Lionel Lapierre (Ordre chronologique)

A) Journals

2024

[J-32] Lambert P., Godary-Dejean K, Lapierre L., Jaiem L., Crestani D., ‘Performance Guarantee for Autonomous Robotic Missions using Resource Management: The PANORAMA Approach’, accepted for publication in Journal of Intelligent & Robotic Systems, 2024, https://doi.org/10.1007/s10846-024-02058-7.
[J-31] Mohammed Aliouache, Pierre Fischer, Pascal Brunet, Lionel Lapierre, Benoit Ropars, Frank Vasseur, Hervé Jourde, 'Influence of karst conduit’s geometry and morphology on 3D flow and transport processes: Insights from 3D tracer tests and numerical modelling', Journal of Hydrology, Volume 632, 2024, 130953, ISSN 0022-1694, https://doi.org/10.1016/j.jhydrol.2024.130953.

2023

[J-30] Dang, T.; Lapierre, L.; Zapata, R.; Ropars, B. ‘Energy-Efficient Configuration and Control Allocation for a Dynamically Reconfigurable Underwater Robot’, Sensors 2023, 23(12), 5439; https://doi.org/10.3390/s23125439.

2022

[J-29]Tho Dang, Lionel Lapierre, Rene Zapata, Benoit Ropars and Guillaume Gourmelen , ‘A Dynamically Reconfigurable Autonomous Underwater Robot for Karst Exploration: Design and Experiment’, in Sensors 2022, 22(9), 3379; https://doi.org/10.3390/s22093379 (registering DOI) - 28 Apr 2022
[J-28] N. Troesch, A. Vena, B. Ropars, L. Lapierre, L. Rossi, R. Bouchard and B. Sorli, ‘Short-range Submarine Radio System for Localization of ROV and Cave Divers in Fresh Water’ URSI Radio Science Letters, Vol. 3, 2022, DOI: 10.46620/21-0056
[J-27] Breux Y, Mas A, Lapierre L. On-manifold probabilistic Iterative Closest Point: Application to underwater karst exploration. The International Journal of Robotics Research. 2022;41(9-10):875-902. doi:10.1177/02783649221101418

2021

[J-26] J. Zhang, X. Xiang, L. Lapierre, Q. Zhang, W. Li, ‘Approach-angle-based three-dimensional indirect adaptive fuzzy path following of under-actuated AUV with input saturation’, Applied Ocean Research, Volume 107, 2021, 102486, ISSN 0141-1187, https://doi.org/10.1016/j.apor.2020.102486
[J-25] T. Dang, L. Lapierre, R. Zapata, B. Ropars, P. Lepinay, ‘Over-Actuated Underwater Robots: Configuration Matrix Design and Perspectives’, Sensors, MDPI, 2021, 21(22), pp. 7729. doi: 10.3390/s21227729
[J-24] Lotfi Jaiem, Didier Crestani, Lionel Lapierre, Sébastien Druon, 2021, ’Energy consumption of control schemes for the Pioneer 3DX mobile robot: models and evaluation’, Journal of Intelligent & Robotic Systems, https://doi.org/10.1007/s10846-021-01374-6
[J-23] L. Lapierre, R. Zapata, P. Lepinay, B. Ropars, ‘Karst Exploration: Unconstrained Attitude Dynamic Control for an AUV’, in the ELSEVIER Ocean Engineering, Volume 219, January 2021, https://doi.org/10.1016/j.oceaneng.2020.108321

2020

[J-22] Yohan Breux, Lionel Lapierre. ‘Elevation Angle Estimations of Wide-Beam Acoustic Sonar Measurements for Autonomous Underwater Karst Exploration’, Sensors, MDPI, 2020, 20 (14), pp.4028, https://doi.org/10.3390/s20144028

2018

[J-21] C. Yu, X. Xiang, L. Lapierre and Q. Zhang, ‘Robust Magnetic Tracking of Subsea Cable by AUV in the Presence of Sensor Noise and Ocean Currents’, in IEEE Journal of Oceanic Engineering, vol. 43, no. 2, pp. 311-322, April 2018, doi: 10.1109/JOE.2017.2768105
[J-20] Ropars B., Lapierre L., Lasbouygues A., Andreu D and Zapata R. ‘Redundant Actuation System of an Underwater Vehicle’, in the Elsevier Journal of Ocean Engineering, Volume 151, March 2018, pp. 276-289, https://doi.org/10.1016/j.oceaneng.2017.12.025
[J-19] Xiang, X., Yu, C., Lapierre, L. et al. 'Survey on Fuzzy-Logic-Based Guidance and Control of Marine Surface Vehicles and Underwater Vehicles'. Int. J. Fuzzy Syst. 20, 572–586 (2018). https://doi.org/10.1007/s40815-017-0401-3

2017

[J-18] Caoyang Yu, Xianbo Xiang, Lionel Lapierre, Qin Zhang. ‘Nonlinear guidance and fuzzy control for three-dimensional path following of an underactuated autonomous underwater vehicle’, Ocean Engineering, Elsevier, 2017, 146, pp.457-467. 10.1016/j.oceaneng.2017.10.001

2016

[J-17] Hmida, R., Ben Abdelali A., Comby F., Lapierre L., Mtibaa A. and Zapata R., ‘Hardware implementation and validation of a 3D underwater shape reconstruction algorithm using a stereo-catadioptric system’, in Applied Science Journal, MDPI, 2016, https://doi.org/10.3390/app6090247

2015

[J-16] Bonnet V., Azevedo Coste C., Lapierre L., Cadic J., Fraisse P., Zapata R., G. Venture G. and Geny C.,’ Towards an affordable mobile analysis platform for pathological walking assessment’, in the Elsevier Journal of Robotics and Autonomous Systems, Volume 66, April 2015, Pages 116–128, https://doi.org/10.1016/j.robot.2014.12.002
[J-15] Xianbo Xiang, Zemin Niu, Lionel Lapierre, Mingjiu Zuo, ‘Hybrid underwater robotic vehicles: the state-of-the-art and future trends’, HKIE Transactions, Taylor & Francis, 2015, 22 (2), pp.103-116, https://doi.org/10.1080/1023697X.2015.1038322

2014

[J-14] Crestani D., Godary Dejean K., Lapierre L., ‘Enhancing Fault Tolerance of Autonomous Mobile Robots Robotics and Autonomous Systems’, 2014 Robotics and Autonomous Systems ELSEVIER, 2015 ; https://doi.org/10.1016/j.robot.2014.12.015
[J-13]Xiang, X., Lapierre L. and Jouvencel B., ‘Smooth transition of AUV motion control: From fully-actuated to under-actuated configuration’, 2014 Robotics and Autonomous Systems ELSEVIER, 67 : 12, 14–22 https://doi.org/10.1016/j.robot.2014.09.024

2012

[J-12]] Bibuli, M.; Caccia,M. ; Lapierre, L. ; Bruzzone, G., ‘Guidance of Unmanned Surface Vehicles : Experiments in Vehicle Following’, 2012 Robotics & Automation Magazine IEEE, 19 : 3, 92-102 doi: 10.1109/MRA.2011.2181784
[J-11] Xiang X., Liu C., Lapierre L., Jouvencel B., ’Synchronized Path Following Control of Multiple Homogenous Underactuated AUVs’, 2012 Journal of Systems Science and Complexity SPRINGER, 25: 1, 71-89 10.1007/s11424-012-0109-2
[J-10] Lapierre L., Zapata R., ‘A guaranteed obstacle avoidance guidance system: The safe manoeuvring zone’, 2012 Autonomous Robots SPRINGER, 32: 3, 177-187 10.1007/s10514-011-9269-5
[J-9] Zhang Q., Lapierre L., Xiang X., ‘Distributed control of coordinated path tracking for networked nonholonomic mobile vehicles’, 2012 Transactions on Industrial Informatics IEEE, 9 : 1, 472 - 484 10.1109/TII.2012.2219541

2009

[J-8] Bibuli M., Bruzzone G., Caccia M., Lapierre L., ’Path-following algorithms and experiments for an Unmanned Surface Vehicle’, 2009 Journal of Field Robotics WILEY, 26: 8, 669-688 10.1002/rob.20303

2008

[J-7] Lapierre L., ‘Robust diving control of an AUV’, 2008 Ocean Engineering ELSEVIER, 36: 1, 92–104 10.1016/j.oceaneng.2008.10.006
[J-6] Lapierre L., Jouvencel B., ‘Robust Nonlinear Path-Following Control of an AUV’, 2008 Journal of Oceanic Engineering IEEE, 33 :2, 89-102 10.1109/JOE.2008.923554

2007

[J-5] Lapierre L., Zapata R, Lepinay P, ’ Combined Path-following and Obstacle Avoidance Control of a Wheeled Robot’, 2007 International Journal of Robotics Research SAGE, 26: 4, 361-375 https://doi.org/10.1177/0278364907076790

2006

[J-4] Lapierre L. and Soetanto D., ‘Nonlinear path-following control of an AUV’, 2007 Ocean Engineering ELSEVIER, 34 :11-12, 1734–1744 10.1016/j.oceaneng.2006.10.019
[J-3] Lapierre L., Soetanto D., Pascoal A., ‘Nonsingular path following control of a unicycle in the presence of parametric modeling uncertainties’, 2006 International Journal of Robust and Nonlinear Control WILEY, 16 :10, 485-503 10.1002/rnc.1075

2004

[J-2] Labbé D.,Wilson P.,Weiss P., Lapierre L., ‘Freesub : Navigation Guidance and Control of An IAUV’, 2003 International Journal of Maritime Engineering RINA, 146 : 2, 71-9, 10.3940/rina.ijme.2004.a2.3504

2003

[J-1] Lapierre L., Fraisse P., Dauchez P., ’Position / Force Control of an Underwater Mobile Manipulator’, 2003 Journal of Robotic Systems WILEY, 20: 12, 707-722 10.1002/rob.10119

B) International Conferences

2020

[C-43] M. Alarab, F. Augereau, D. Laux and L. Lapierre, Lionel, "Estimation of particle size in turbid water using ultrasonic attenuation - Application for immersed cave exploration", Forum Acusticum 2020, Lyon, France, April 20-24 2020, doi: 10.48465/fa.2020.0078
[C-42] H. Dang, L. Lapierre, R. Zapata, P. Lepinay and B. Ropars, "Dynamic Configuration for an Autonomous Underwater Robot", 2020 28th Mediterranean Conference on Control and Automation (MED), Saint-Raphaël, France, 2020, pp. 520-525, doi: 10.1109/MED48518.2020.9183057.

2019

[C-41] P. Lambert, L. Lapierre and D. Crestani, "An Approach for Fault Tolerant and Performance Guarantee Autonomous Robotic Mission", NASA/ESA Conference on Adaptive Hardware and Systems (AHS), Colchester, United Kingdom, 2019, pp. 87-94, doi: 10.1109/AHS.2019.00009. Best Paper award
[C-40] H. Dang, L. Lapierre, R. Zapata, P. Lepinay and B. Ropars, "Configuration Matrix Design of Over-Actuated Marine Systems", MTS/IEEE OCEANS - Marseille, Marseille, France, 2019, pp. 1-10, doi: 10.1109/OCEANSE.2019.8867445.

2017

[C-39] Lasbouygues A., Louis S., Ropars B., Rossi L., Jourde H., Delas H., Balordi P., Bouchard R., Dighouth M., Dugrenot M., Jacquemin E., Vasseur F., Lapierre L. and Andreu D., ‘Robotic mapping of a karst aquifer’, IFAC World Congress 2017, demonstration paper.
[C-38] Louis S., Godary-Dejean K., Lapierre L., Claverie T., Villéger S., ‘Formal Method for Mission Controller Generation of a Mobile Robot’, in proc. of 18th Towards Autonomous Robotic Systems Conference, TAROS, 19th - 21st July 2017, University of Surrey, Guildford, UK.
[C-37] Louis S., Lapierre L., Godary-Dejean K., Yadpiroon O, Claverie T., Villéger S., ‘Quaternion based control for robotic observation of marine diversity’, in proc of the MTS/IEEE OCEANS Conference, 19-22 June 2017, Aberdeen, Scotland.

2016

[C-36] Jaiem L., Lapierre L., Godary-Dejean K. and Crestani D., ‘Fault Tolerant Autonomous Robots Using Mission Performance Guided Resources Allocation’, SYSTOL, Barcelone, Spain, September 2016
[C-35] Jaiem L., Lapierre L, K. Godary-Dejean and Crestani D. ‘Toward Peformance Guarantee for Autonomous Mobile Robotic Mission: An Approach for Hardware and Software Ressource Management’, In : Proc. of TAROS, LNAI 9716, pp. 189-195, Sheffield, U.K., 2016.
[C-34] Jaiem L., Druon S. Lapierre L and Crestani D. ‘A Step Toward Mobile Robots Autonomy : Energy Estimation Models’, In : Proc. of TAROS, LNAI 9716, pp. 177-188, Sheffield, U.K., 2016.

2015

[C-33] Ropars B., Lasbouygues A., Lapierre L. and Andreu D., ‘Thruster’s Dead-zones Compensation for the Actuation System of an Underwater Vehicle’, 2015 European Control Conference (ECC), Linz, Austria
[C-32] Lasbouygues, A., Ropars, B., Passama, R., Andreu, D., Lapierre, L., ‘Atoms Based Control of Mobile Robots with Hardware-In-the-Loop validation’, 2015 IROS, Hamburg, Germany

2014

[C-31] Lasbouygues A., Ropars B., Lapierre L., Andreu D. and Jourde H., ‘Stable and reactive centering in conduits for karstic exploration’, 2014 European Control Conference (ECC), Strasbourg, France
[C-30] M. Bibuli, G. Bruzzone, M. Caccia, L. Lapierre and E. Zereik, ‘A collision avoidance algorithm based on the virtual target approach for cooperative unmanned surface vehicles’, 22nd Mediterranean Conference on Control and Automation (MED), Palermo, 2014, pp. 746-751, doi: 10.1109/MED.2014.6961463.

2011

[C-29] Xianbo Xiang , Lapierre Lionel, Liu Chao, Jouvencel Bruno, ‘Path tracking : Combined path following and trajectory tracking for autonomous under water vehicles’, 2011 IEEE / RSJ IROS San Francisco, CA, USA

2010

[C-28] Xianbo Xiang , Lapierre Lionel, Jouvencel Bruno, ‘Guidance Based Collision Avoidance of Coordinated Nonholonomic Autonomous Vehicles’, 2010 IEEE / RSJ IROS Taipei, Taiwan
[C-27] B. Durand, K. Godary-Dejean, L. Lapierre, D. Crestani, ‘Global methodology in control architecture to improve mobile robot reliability’, 2010 IEEE / RSJ IROS Taipei, Taiwan
[C-26] Lapierre L., Zapata, R., Bibuli M., ‘Guidance of a flotilla of wheeled robots : A practical solution’, 2010 IAV / IFAC Lecce, Italy
[C-25] Xiang X., Lapierre L., Jouvencel B., ‘Guidance based collision free and obstacle avoidance of autonomous vehicles under formation constraints’, 2010 IAV / IFAC Lecce, Italy
[C-24] B. Durand, K. Godary-Dejean, L. Lapierre, D. Crestani, ‘Using Adaptive Control Architecture to enhance Autonomous Mobile Robot Reliability’, 2010 TAROS Plymouth, UK
[C-23] B. Durand, K. Godary-Dejean, L. Lapierre, R. Passama, D. Crestani, ‘Fault tolerance enhancement using autonomy adaptation for autonomous mobile robots’, 2010 SYSTOL Nice, France

2009

[C-22] Parodi O., Lapierre L., Jouvencel B., ‘Hardware-in-the-loop simulators for multiple vehicle scenario : survey on existing solutions and proposal of a new architecture’, 2009 IEEE / RSJ IROS St. Louis, Missouri, USA
[C-21] Xianbo Xiang, Lionel Lapierre, Bruno Jouvencel, Olivier Parodi, ‘Coordinated Path Following Control of Multiple Wheeled Mobile Robots Through Decentralized Speed Adaptation’, 2009 IEEE / RSJ IROS St. Louis,Missouri, USA
[C-20] Xianbo Xiang, Lionel Lapierre, Bruno Jouvencel, Olivier Parodi, ‘Coordinated Path Following Control of Multiple Nonholonomic Vehicles’ 2009 MTS/IEEE OCEANS Bremen, Germany
[C-19] Bibuli, M., Parodi, O., Lapierre, L., Bruzzone, G., Caccia,M., ‘Vehicle-Following Guidance for Unmanned Marine Vehicles’, 2009 MCMC, Guarujà, Brazil

2008

[C-18] Parodi O., Lapierre L., Jouvencel B., ‘Thetis : A Real-TimeMulti-Vehicles Hybrid Simulator for Heterogeneous Vehicles’, 2008 IEEE / RSJ IROS Nice, France

2007

[C-17] L. Lapierre, R. Zapata and B. Jouvencel, ‘Simultaneous Path Following and Obstacle Avoidance Control of a Unicycle-type Robot’, 2007 ICRA, Roma, Italie
[C-16] Lapierre L., Indiverri G., ‘Non-Singular Path-Following Control of Wheeled Robots with Actuator Velocity Saturations’, 2007 IFAC IAV, Toulouse, France

2006

[C-15] Olivier Parodi, Lionel Lapierre, Bruno Jouvencel, ‘Optimised Gait for Anguiliform Locomotion’, 2006 MTS/IEEE OCEANS, Singapore
[C-14] L. Lapierre, V. Creuze and B. Jouvencel, ‘Robust Diving Control of an AUV’, 2006 MCMC, Lisbon, Portugal

2005

[C-13] L. Lapierre and B. Jouvencel, "Path following control for an eel-like robot," Europe Oceans, Brest, France, 2005, pp. 460-465 Vol. 1, doi: 10.1109/OCEANSE.2005.1511759.
[C-12] P. Paim, B. Jouvencel and L. Lapierre, ‘A Reactive Control Approach for Pipeline Inspection with an AUV’, 2005 MTS/IEEE OCEANS, Washington DC, USA

2003

[C-11] Lapierre L., Soetanto D., Pascoal A., ‘Non-linear path-following control of an AUV’, 2003 GCUV, Newport, SouthWales, UK
[C-10] Lapierre L., Soetanto D., Pascoal A., ‘Adaptive non-linear vision-based path following control of a non-holonomic robot’, 2003 European Control Conference (ECC), Cambridge, UK
[C-9] Lapierre L., Soetanto D., Pascoal A., ‘Unicycle Vision-based Path-following Control’, 2003 Mediterranean Conference on Control and Automation (MED), Rhodes, Rhodes Island, Greece
[C-8] Lapierre L., Soetanto D., Pascoal A., ‘Adaptive, non-singular path-following control of dynamic wheeled robot’, 2003 ICAR, Coimbra, Portugal
[C-7] Lapierre L., Soetanto D., Pascoal A., ‘Coordinated Motion Control of marine robots’, 2003 MCMC, Girona, Spain
[C-6] D. Labbé, P.Wilson, P.Weiss, L. Lapierre, ‘FreeSub : Navigation, Guidance and Control System for Intervention AUV’, 2003 SCSS, Orlando, Florida, USA
[C-5] Weiss, P., Catret Mascarell, J.V., Badica, M, Labbe, D.F.L., Lapierre, L., Brignone, L. and Wilson, P. A, ‘FREESUB: Modular control system for intervention AUVS (IAUV)’, 2003 UUST Boston, USA
[C-4] L. Lapierre , D. Soetanto, , A. Pascoal,’ Nonlinear Path Following with Applications to the Control of Autonomous Underwater Vehicles‘, CDC’03 Maui, Hawaii, 2003
[C-3] D. Soetanto, L. Lapierre, A. Pascoal, ‘Adaptive, non-singular path following control of a wheeled robot’, 2003 CDC, Maui, Hawaii

2000

[C-2] Fraisse, P., Lapierre, L., Dauchez, P., Pierrot, F., ‘Position/Force Control of an Underwater Vehicle Equipped with a Robotic Manipulator’, 2000 SYROCO Vienna, Autriche

1998

[C-1] Lapierre L., Fraisse P., M’Sirdi N.K., ‘Hybrid Position/Force Control of a ROV with a Manipulator’, 1998 MTS/IEEE OCEANS Nice, France

C) National Conferences

2016

[CN-9] Jaiem, L., Passama R., Lapierre L., Godary-Dejean K. and Crestani D., ‘Performance Guided Approach for Hardware and Software Resources Management for Autonomous Mobile Robotic Mission’, SHARC, Brest, France, 2016.

2015

[CN-8] Louis S., Andreu D., Godary K., Lapierre L., ‘HIL Simulator for AUV with ContrACT’, 2015 CAR Lyon, France

2014

[CN-7] Jaiem, L., Lapierre L., Godary-Dejean K. and Crestani D., ‘Towards a Fault Tolerant Control Architecture with Performances Guarantees for Mobile Robots’, Control Architecture of Robots (CAR), Paris, 2014.

2010

[CN-6] B. Durand, K. Godary-Dejean, D. Andreu, L. Lapierre, D. Crestani, ‘Reliability improvement in control architecture for mobile robots: implementation using COTAMA’, 2010 CAR Douai, France

2009

[CN-5] Durand B., Godary K., Lapierre L., Crestani D., ‘Inconsistencies Evaluation Mechanisms for an Hybrid Control Architecture with Adaptive Autonomy’, 2009 CAR Toulouse, France

2006

[CN-4] Olivier Parodi, Lionel Lapierre, Bruno Jouvencel, ‘Mouvements optimisés pour une propulsion anguilliforme’, CMM: Caractérisation du Milieu Marin, Oct 2006, Brest, France
[CN-3] Jean-Mathias Spiewak, Bruno Jouvencel, Philippe Fraisse, Lionel Lapierre, ‘H160: un véhicule sous-marin autonome dédié à l'exploration des eaux peu profondes’, CMM: Caractérisation du Milieu Marin, Oct 2006, Brest, France. pp.24
[CN-2] Vincent Creuze, Lionel Lapierre, Bruno Jouvencel, ‘Amélioration de la Robustesse dans le Cas de la Détection de Fond par Diffraction Acoustique’, CMM: Caractérisation du Milieu Marin, Oct 2006, Brest, France. pp.140-145
[CN-1] Vincent Creuze, Bruno Jouvencel, Lionel Lapierre, ‘Analyse des échos de signaux acoustiques diffractés pour le suivi de fond des véhicules autonomes sous-marins’, CIFA: Conférence Internationale Francophone d'Automatique, May 2006, Bordeaux, France. pp.150-155

D) Book Chapters

[CO-6] L. Lapierre, ‘Une robotique subaquatique pour relever les défis de la ressource en eau’, in L’interdisciplinarité : voyage au-delà des disciplines, MITI, CNRS éditions, ISBN : 978-2-271-13983-2, 2022.
[CO-5] L. Jaiem, S. Druon, L. Lapierre, D. Crestani, A Step Toward Mobile Robots Autonomy: Energy Estimation Models. 2016, France. In press, 2016, ISBN: 978-3-319-40378-6
[CO-4] L. Jaiem, L. Lapierre, K. Godary-Dejean, D. Crestani, Toward Performance Guarantee for Autonomous Mobile Robotic Mission: An Approach for Hardware and Software Resources Management. 2016, France. In press, 2016, ISBN: 978-3-319-40379-3
[CO-3] Xianbo Xiang, Lionel Lapierre, Bruno Jouvencel, Guohua Xu and Xinhan Huang, ‘Cooperative Acoustic Navigation Scheme for Heterogenous Autonomous Underwater Vehicles’, Underwater Vehicles’, Underwater Vehicles Chapter 27, 2009 A. V. Inzartsev - In Tech, pp : 525-539 ISBN 978-953-7619-49-7, DOI: 10.5772/6719
[CO-2] Lapierre L., ‘Underwater Robots Part II : existing solutions and open issues’, Mobile Robotics – Towards New Applications, 2006 Pro Verlag & Advanced Robotic Systems International (ARS), pp : 335-372 ISBN : 978-3-86611-314-5, DOI: 10.5772/4698
[CO-1] Lapierre L., ‘Underwater Robots Part I : current systems and problem pose’, Mobile Robotics – Towards New Applications, 2006 Pro Verlag & Advanced Robotic Systems International (ARS), pp : 309-334 ISBN : 978-3-86611-314-5, DOI: 10.5772/4697