Program
Intelligent Vehicles International Summer School, ITEAM European H2020 MSCA-ITN Project

Automatic control and Robotics to the development of intelligent systems embedded on multi-actuated vehicles

Generally, the control problem of automobile systems is taken into two different points of view:

  • Low level control near to the wheels, motors and actuators. The control loop is based on the monitoring the interaction between tires and the road through the vehicle dynamic model;
  • High level control near to the navigational decision level. The control loop is based on the regulation of a robotic task, on the execution of a desired path based on kinematic constraints;
This summer school, on the context of the European Marie Curie ITN project ITEM, has the objective of bringing these two layers into a common framework, proving basic knowledge enabling further developments of complete robotic navigation systems integrating dynamics and tire-road interaction constraints.

Program

The program was divided in three parts: Vehicle dynamics modeling and estimation (4h); Dynamics control and stabilization (14h); Perception and sensor-based navigation (14h);

A participation certificate will be delivred by the UTC Doctoral School to all PhD students participating in the lectures, providing ECTS credits.

The first part is a small introduction providing some recalls of the most used vehicle dynamic models and presents a background of state observer theory applied to the estimation of unmeasured dynamics variables/parameters in order to established a complete knowledge of the vehicle dynamic behavior.

The second part presents a general theoretical background of the latest control techniques (robust control, LMIS, LPV systems, and others) of dynamic systems, followed by applications to automobile systems: driveability and stability of the vehicle's chassis.

The third part provides a theoretical background concerning control methodologies applied to mobile robot navigation. After introducing some embedded perception systems, specially visual perception of the environment provided by cameras embedded on the vehicle, the autonomous navigation problem is considered in a framework of the sensor-based control strategy.

The week will start with a cultural and integration event in Compiègne and its region (see details here).

Lectures team

Oliver Sename

Professor at Grenoble Institute of Technology

GIPSA lab / Control System department UMR 5216

Soheib Fergani

Associate professor at Université de Toulouse III Paul Sabatier

LAAS-CNRS lab / Diagnosis and Supervisory Control

Philippe Martinet

Professor at Ecole Centrale de Nantes

LS2N lab / Robotic Perception and Autonomous Systems

Alessandro Correa Victorino

Associate professor at Université de Technologie de Compiègne

Heudiasyc lab / Vehicle Dynamics and Robotics

Christian Laugier

Research Director at INRIA Rhône-Alpes

e-Motion project-team / Robotic Perception and Autonomous Systems