Accéder directement au contenu
Nombre de documents

59

Benoit Clement- Ensta Bretagne - Lab-Sticc UMRCNRS 6285

Professor at ENSTA Bretagne

My main interests are in Robotics and Automatic Control. The underwater activities naturally lead to marine robotics (surface and underwater)
Keywords : AUV, Robust Control, Robotics, Embedded Systems
Research team : PRASYS of the LabSTICC UMR 6285 - CNRS (web)

 

 

Contact

ENSTA Bretagne
2 rue Francois Verny
29806 Brest Cedex 09

Office : M115
Phone : +33 (0)2 98 34 89 70

Article dans une revue14 documents

  • Juan Luis Rosendo, Dominique Monnet, Hernán de Battista, Jordan Ninin, Benoit Clement, et al.. A global optimization approach for sliding mode tuning and existence maps generation. International Journal of Dynamics and Control, Springer Berlin Heidelberg, 2020, ⟨10.1007/s40435-020-00702-2⟩. ⟨hal-02966669⟩
  • Kahina Bensafia, Ali Mansour, Abdel-Ouahab Boudraa, Salah Haddab, Philippe Ariès, et al.. Blind separation of ECG signals from noisy signals affected by electrosurgical artifacts. Analog Integrated Circuits and Signal Processing, Springer Verlag, 2020, ⟨10.1007/s10470-020-01674-1⟩. ⟨hal-02882649⟩
  • Xiaomin Wang, Benoît Zerr, Helene Thomas, Benoit Clement, Zexiao Xie. Pattern formation of multi-AUV systems with the optical sensor based on displacement-based formation control. International Journal of Systems Science, Taylor & Francis, 2020, 51 (2), pp.348-367. ⟨10.1080/00207721.2020.1716096⟩. ⟨hal-02465571⟩
  • Aliah Majed, Hassan Harb, Abbass Nasser, Olivier Reynet, Benoit Clement. Sensing-based Self-Reconfigurable Decision-Making Mechanism for Autonomous Modular Robotic System. IEEE Sensors Journal, Institute of Electrical and Electronics Engineers, 2020, 20 (13), pp.7057-7106. ⟨10.1109/JSEN.2020.2979280⟩. ⟨hal-02508802⟩
  • Philippe Ariès, Kahina Bensafia, Ali Mansour, Benoit Clement, Jean-Louis Vincent, et al.. Design and Evaluation of a Wireless Electrocardiogram Monitor in an Operating Room: A Pilot Study. Anesthesia and Analgesia, Lippincott, Williams & Wilkins, 2019, 129 (4), pp.991-996. ⟨10.1213/ANE.0000000000003972⟩. ⟨hal-01971701⟩
  • Juan Luis Rosendo, Benoit Clement, Fabricio Garelli. Experimental validation of constraint mitigation algorithm in underwater robot depth control. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, SAGE Publications, 2019, 233 (3), pp.264-275. ⟨10.1177/0959651818791399⟩. ⟨hal-01858356⟩
  • Xiaomin Wang, Lorenzo Benozzi, Benoit Zerr, Zexiao Xie, Helene Thomas, et al.. Formation building and collision avoidance for a fleet of NAOs based on optical sensor with local positions and minimum communication. Science in China Series F: Information Sciences, Springer Verlag, 2019, 62 (5), ⟨10.1007/s11432-018-9681-3⟩. ⟨hal-02183747⟩
  • Rabine Keyetieu, Nicolas Seube, Vignyl Djine, Gaël Roué, Benoit Clement, et al.. Multi-Beam Echo Sounders–INS Automatic Latency Calibration. Marine Geodesy, Taylor & Francis, 2018, 41 (5), pp.477-493. ⟨10.1080/01490419.2018.1478349⟩. ⟨hal-01885912⟩
  • Aries Philippe, Olivier Reynet, Benoit Clement, Ba-Vinh Nguyen. Another Stone to the Edifice of Wireless Anesthesia. Anesthesia and Analgesia, Lippincott, Williams & Wilkins, 2016, 123 (4), ⟨10.1213/ANE.0000000000001458⟩. ⟨hal-01369735⟩
  • Kevin Bruget, Benoit Clement, Olivier Reynet, Bernt Weber. The disabled set sail. CAN Newsletter, 2014, pp.8-13. ⟨hal-01069935⟩
  • Adlane Ould-Yahoui, Oualid Sbai, Kevin Baranger, Anne Bernard, Yatma Gueye, et al.. Role of Matrix Metalloproteinases in Migration and Neurotrophic Properties of Nasal Olfactory Stem and Ensheathing Cells. Cell Transplantation, Cognizant Communication Corporation, 2013, 22 (6), pp.993--1010. ⟨10.3727/096368912X657468⟩. ⟨hal-01460477⟩
  • Benoît Clement. Interval analysis and convex optimization to solve a robust constraint feasibility problem. Journal Européen des Systèmes Automatisés (JESA), Lavoisier, 2012, 46 (4-5), pp.381-395. ⟨10.3166/jesa.46.381-395⟩. ⟨hal-00733844⟩
  • Benoît Clement, Patrick Decherchi, François Féron, Denis Bertin, Didier Gigmes, et al.. Poly(D,L-Lactide)-block-Poly(2-Hydroxyethyl Acrylate) Block Copolymers as Potential Biomaterials for Peripheral Nerve Repair: in vitro and in vivo Degradation Studies. Macromolecular Bioscience, Wiley-VCH Verlag, 2011, 11 (9), pp.1175--1184. ⟨10.1002/mabi.201100067⟩. ⟨hal-01460291⟩
  • Mohamed Abbas-Turki, Gilles Duc, Benoît Clement. Multiobjective Synthesis Using LMI Formulations for Application of the Cutting Plane Algorithm. European Journal of Control, Elsevier, 2006, 12, pp.40-56. ⟨hal-00674627⟩

Communication dans un congrès42 documents

  • Yoann Sola, Thomas Chaffre, Gilles Le Chenadec, Karl Sammut, Benoit Clement. Evaluation of a Deep-Reinforcement-Learning-based Controller for the Control of an Autonomous Underwater Vehicle. IEEE Oceans 2020, Oct 2020, singaropore, Singapore. ⟨hal-03106826⟩
  • Alexandre Lefort, Xavier Dal Santo, Benoit Clement, Jordan Ninin. AUV Hinfinity Robust Control Design using Interval Analysis with Experimental Validation. IEEE Oceans 2019, Jun 2019, Marseille, France. ⟨hal-02171586⟩
  • Abdelmalek Laidani, Mohamed Bouhamida, Mustapha Benghanem, Karl Sammut, Benoit Clement. A Low-Cost Test Bench for Underwater Thruster Identification. Conference on Control Applications in Marine Systems, Robotics, and Vehicles, Sep 2019, Daejeon, South Korea. ⟨hal-02306783⟩
  • Amirmehdi Yasdani, Karl Sammut, Andrew Lammas, Oleg Yakimenko, Benoit Clement. Cooperative guidance system for auv docking with an active free-floating docking station. IEEE Oceans 2019, Jun 2019, Marseille, France. ⟨hal-02171554⟩
  • Pierre Benet, Fabien Novella, Marie Ponchart, Pierre Bosser, Benoit Clement. State-of-the-art of standalone accurate AUV positioning - application to high resolution bathymetric surveys. IEEE Oceans 2019, Jun 2019, Marseille, France. ⟨hal-02171555⟩
  • Rui Yang, Y. Liu, Benoit Clement, Dominique Monnet, Ali Mansour. Structured Hinfinity regulations applied to auv yaw control. IEEE Oceans 2019, Jun 2019, Marseille, France. ⟨hal-02171558⟩
  • Yoann Sola, Gilles Le Chenadec, Karl Sammut, Benoit Clement. Auto-tuning PID controller based on machine learning algorithms for robust control of autonomous underwater vehicles. IEEE Oceans 2019, Jun 2019, Marseille, France. ⟨hal-02171560⟩
  • Alexandre Lefort, Benoit Clement, X. Dal Santo. Autopilot for a marine vessel : a formal proff of robustness and optimal control based on an uncertain model. 13th national conference on Software and Hardware Architectures for Robots Control (SHARC 2018), Naval Group, Jun 2018, Saint-Tropez, France. ⟨hal-01867181⟩
  • Alexandre Lefort, Xavier Dal Santo, Jordan Ninin, Benoît Clement. Depth Control of a Submarine: An Application of Structured H∞ Synthesis Method for Uncertain Models based on Interval Analysis. 2018 Australian & New Zealand Control Conference (ANZCC), Dec 2018, Melbourne, Australia. pp.269-274, ⟨10.1109/ANZCC.2018.8606583⟩. ⟨hal-02090264⟩
  • Alexandre Lefort, Jordan Ninin, Benoit Clement. Structured H_infty synthesis method with interval analysis : Application to the robust control of an auv. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Oct 2018, Madrid, Spain. ⟨hal-01936344⟩
  • Dominique Monnet, Juan Luis Rosendo, Hernán de Battista, Benoît Clément, Jordan Ninin, et al.. A global optimization approach for non-linear sliding mode control analysis and design. 9th IFAC Symposium on Robust Control Design (ROCOND'18), Sep 2018, Florianopolis, Brazil. ⟨hal-01867170⟩
  • Juan Luis, Dominique Monnet, Benoît Clément, Fabricio Garelli, Jordan Ninin. Control of an Autonomous Underwater Vehicle subject to robustness constraints. 9th IFAC Symposium on Robust Control Design (ROCOND'18), Sep 2018, Florianopolis, Brazil. ⟨hal-01867161⟩
  • Dominique Monnet, Jordan Ninin, Benoit Clement. Optimisation globale de problèmes Min-Max : application à la synthèse de loi de commande robuste. 19ème Congrès annuel de la Société française de recherche opérationnelle et d’aide à la décision (ROADEF 2018), Lab-STICC Feb 2018, Lorient, France. ⟨hal-01780530⟩
  • D. Bao, R. Yang, M. Li, Benoit Clement, Ali Mansour. Hardware-in-the-Loop Simulation Applied to AUV Control. Chinese Automation Congress, (CAC 2018), Nov 2018, Xi'an, China. ⟨hal-01936710⟩
  • Kahina Bensafia, Ali Mansour, Gilles Le Maillot, Benoit Clement, Olivier Reynet, et al.. Wireless Based System for Continuous Electrocardiography Monitoring during Surgery. ICBSAT 2017 : 19th International Conference on Biomedical Signal Analysis Technology, Oct 2017, Paris, France. ⟨hal-01651643⟩
  • Xiaomin Wang, Benoit Clement, Benoit Zerr, Helene Thomas, Zexiao Xie. Pattern formation for a fleet of AUVs based on optical sensor . OCEANS 2017, Jun 2017, Aberdeen, United Kingdom. ⟨hal-01629616⟩
  • Dominique Monnet, Benoit Clement, Jordan Ninin. Global Optimization of continuous MinMax problem. XIII Global Optimization Workshop, Sep 2016, Braga, Portugal. ⟨hal-01378727⟩
  • Dominique Monnet, Jordan Ninin, Benoit Clement. A global optimization approach to structured regulation design under Hinfinity constraints. 55th IEEE Conference on Decision and Control CDC 2016), Dec 2016, Las Vegas, United States. ⟨hal-01416977⟩
  • Juan Luis Rosendo, Fabricio Garelli, Benoit Clement, Hernan de Hernan. MITIGATION OF THE SATURATION EFFECT IN AUV PATH FOLLOWING APPLICATIONS. 25o Congreso Argentino de Control Automático, Nov 2016, Buenos Aires, Argentina. ⟨hal-01391615⟩
  • Juan Luis Rosendo, Benoit Clement, Fabricio Garelli. Sliding mode reference conditioning for path following applied to an AUV. 10th IFAC Conference on Control Applications in Marine Systems (CAMS 2016), Sep 2016, Trondheim, Norway. ⟨hal-01368470⟩
  • Benoit Clement. Optimization based control for Robots, solutions for the implementation issue. Conference on Software and Hardware Architectures for Robots Control, Jun 2016, Brest, France. ⟨hal-01340686⟩
  • Benoit Clement, Yang Rui, Ali Mansour, Li Ming. A Modeling and Control approach for a cubic AUV. 10th IFAC Conference on Control Applications in Marine Systems, Sep 2016, Tronheim, Norway. pp.279 - 284, ⟨10.1016/j.ifacol.2016.10.355⟩. ⟨hal-01368466⟩
  • Dominique Monnet, Jordan Ninin, Benoit Clement. Global Optimization of H ∞ problems: Application to robust control synthesis under structural constraints. MACIS, Nov 2015, Berlin, Germany. ⟨hal-01236171⟩
  • Benoit Clement, Dominique Monnet, Jordan Ninin. $H_\infty$ control synthesis under structural constraints based on Global Optimization. 13thEUROPT Workshop on Advances in Continuous Optimization, Jul 2015, Edinburgh, United Kingdom. ⟨hal-01194766⟩
  • Jordan Ninin, Dominique Monnet, Benoit Clement. Global Optimization based on Contractor Programming: Application to $H_\infty$ synthesis. 8th Small Workshop on Interval Methods, Jun 2015, Prague, Czech Republic. ⟨hal-01194756⟩
  • Rui Yang, Irvin Probst, Ali Mansour, Li Ming, Benoit Clement. Underwater Vehicle Modeling and Control Application to Ciscrea Robot. MOQESM'14, ENSTA Bretagne, Oct 2014, Brest, France. ⟨hal-01119676⟩
  • Rui Yang, Benoit Clement, Ali Mansour, H. J. Li, M. Li, et al.. Modeling of a Complex-Shaped Underwater Vehicle. ICARSC 2014 - IEEE International Conference on Autonomous Robot Systems and Competitions, May 2014, Espinho, Portugal. ⟨hal-01008150⟩
  • Benoit Clement. Control Algorithms for a Sailboat Robot with a Sea Experiment. Conference on Control Applications in Marine Systems, Sep 2013, Osaka, Japan. ⟨hal-00870579⟩
  • Bruget Kevin, Benoît Clement, Olivier Reynet, Bernt Weber. An Arduino compatible CAN Bus architecture for sailing applications. International Robotic Sailing Conference, Sep 2013, France. pp.37, ⟨10.1007/978-3-319-02276-5⟩. ⟨hal-00840647⟩
  • Benoit Clement. A Marine Robotics point of view for Coastal Oceanography. Innovation & Blue Growth symposium, Oct 2013, Qingdao, China. ⟨hal-00914238⟩
  • Rui Yang, J.G. Wang, Benoit Clement, Ali Mansour. FPGA Implementation of a Parameterized Fourier Synthesizer. IEEE International Conference on Electronics, Circuits, and Systems, Dec 2013, Abu Dhabi, United Arab Emirates. ⟨hal-00917013⟩
  • Nicolas Brocheton, Kevin Bruget, Alban Wibaux, Olivier Reynet, Benoit Clément, et al.. Système d'assistance à la navigation handivoile. Handicap 2012, Jun 2012, Paris, France. pp.180. ⟨hal-00854812⟩
  • Benoît Clement, Jan Sliwka, Irvin Probst. Sea glider guidance around a circle using distance measurements to a drifting acoustic source. IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2012, Portugal. pp.94-99, ⟨10.1109/IROS.2012.6385659⟩. ⟨hal-00840509⟩
  • Luc Jaulin, Fabrice Le Bars, Benoît Clement, Yvon Gallou, Olivier Menage, et al.. Suivi de route pour un robot voilier. Conférence Internationale Francophone d'Automatique (CIFA2012), Jul 2012, Grenoble, France. pp.695-702. ⟨hal-00728390⟩
  • Jan Sliwka, Jeremy Nicola, Remi Coquelin, Francois Becket De, Benoît Clement, et al.. Sailing without wind sensor and other hardware and software innovations. SAILING 2011, Jul 2011, Germany. ⟨hal-00676022⟩
  • Benoît Clement. Interval Tools and Convex Optimization For Robust Constraint Feasibility. 3rd Small Workshop on Interval Methods, Jun 2010, Nantes, France. ⟨hal-00674608⟩
  • Olivier Reynet, Jean-Christophe Le Lann, Benoît Clément. JOG : une approche haut niveau des systèmes embarqués via Armadeus et Java. 3èmes Journées Démonstrateurs 2010, Nov 2010, Angers, France. ⟨hal-00911269⟩
  • Mohamed Abbas-Turki, Gilles Duc, Benoît Clement. Multi-Objective Controller Design for a Space Launcher. European Control Conference, Jul 2007, Kos, Greece. ⟨hal-00840663⟩
  • Benoît Clement, Mohamed Abbas-Turki, Gilles Duc, Spilios Theodoulis. Robust gain scheduled control of a space launcher by introducing LQG/LTR ideas in the NCF robust stabilisation problem. 46th IEEE Conference on Decision and Control, Dec 2007, United States. pp.2393 - 2398. ⟨hal-00674621⟩
  • Mohamed Abbas-Turki, Gilles Duc, Benoît Clément, Spilios Theodoulis. Robust gain scheduled control of a space launcher by introducing LQG/LTR ideas in the NCF robust stabilisation problem. IEEE Conference on Decision and Control, Dec 2007, New Orleans, United States. pp.2393-2398. ⟨hal-00257862⟩
  • Mohamed Abbas-Turki, Gilles Duc, Benoît Clément. Multi-objective controller design for a space launcher. ECC'07, Jul 2007, Kos, Greece. pp.4016-4022. ⟨hal-00257873⟩
  • Mohamed Abbas-Turki, Gilles Duc, Benoît Clément. Retouche de correcteur multiobjectifs par optimisation convexe : application au pilotage d'un lanceur spatial. Conférence Internationale Francophone d'Automatique CIFA 2006, Jun 2006, Bordeaux, France. pp.CD-ROM. ⟨hal-00263413⟩

Chapitre d'ouvrage1 document

  • Dominique Monnet, Jordan Ninin, Benoit Clement. Global Optimization of Hinfinity Problems: Application to Robust Control Synthesis Under Structural Constraints. Mathematical Aspects of Computer and Information Sciences, 2016, 978-3-319-32859-1. ⟨10.1007/978-3-319-32859-1_46⟩. ⟨hal-01306701⟩

Direction d'ouvrage, Proceedings, Dossier1 document

  • Benoit Zerr, Luc Jaulin, Vincent Creuze, Nathalie Debese, Isabelle Quidu, et al.. Quantitative Monitoring of the Underwater Environment: Results of the International Marine Science and Technology Event MOQESM. Springer International Publishing. France. 6, 2016, 978-3-319-32107-3. ⟨10.1007/978-3-319-32107-3⟩. ⟨hal-01306902⟩

HDR1 document

  • Benoit Clement. Commande Robuste et Contraintes d'Optimisation. Automatique / Robotique. UBO, 2015. ⟨tel-01305932⟩