Publications

You can also find my articles on my Google Scholar profile.

Journal Papers

Skeleton Disk-Graph Roadmap: A Sparse Deterministic Roadmap For Safe 2D Navigation and Exploration

Published in IEEE Robotics and Automation Letters (RA-L), 2023

Relying on the skeleton of the Signed-Distance Field (SDF) of the environment, we propose a deterministic roadmap construction method suitable for navigation and exploration.

Recommended citation: T. Noël, A. Lehuger, E. Marchand and F. Chaumette, "Skeleton Disk-Graph Roadmap: A Sparse Deterministic Roadmap for Safe 2D Navigation and Exploration," in IEEE Robotics and Automation Letters, vol. 9, no. 1, pp. 555-562, Jan. 2024, doi: 10.1109/LRA.2023.3334103.

Conference Papers

Disk-Graph Probabilistic Roadmap: Biased Distance Sampling for Path Planning in a Partially Unknown Environment

Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

To improve safety and sparsity of navigation roadmaps, we propose a sampling-driven approach treating the roadmap nodes as free-space bubbles.

Recommended citation: T. Noël, S. Kabbour, A. Lehuger, E. Marchand and F. Chaumette, "Disk-Graph Probabilistic Roadmap: Biased Distance Sampling for Path Planning in a Partially Unknown Environment", 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022, pp. 5707-5714, doi: 10.1109/IROS47612.2022.9981136.

A Hybrid Collision Model for Safety Collision Control

Published in IEEE International Conference on Robotics and Automation (ICRA), 2021

This paper describes the combination of geometric primitives and data-driven approaches to safely avoid the self-collisions on a quadruped.

Recommended citation: T. Noël, T. Flayols, J. Mirabel, J. Carpentier and N. Mansard, "A Hybrid Collision Model for Safety Collision Control," 2021 IEEE International Conference on Robotics and Automation (ICRA), Xi'an, China, 2021, pp. 1722-1728, doi: 10.1109/ICRA48506.2021.9561730.