Pascal Morin

Professor

Center · CAOR

Discipline(s): Signal, Image, Automatic Control, Robotics and Industrial Engineering

Keywords

Awards & distinctions

2025 Figurant dans la liste des "World’s Top 2% Scientists" publiée par l'université de Standford

Team

CAOR

Biography

Pascal Morin is a researcher specializing in robotics and control systems, whose work focuses on the development of control and estimation methods for robotic systems and autonomous vehicles. His research addresses a variety of topics, such as visual control, odometry based on aerodynamic sensors, the stabilization of underactuated systems, and the modeling and control of convertible drones and micro aerial vehicles (MAVs). Pascal Morin has contributed to significant advances in the design of nonlinear control algorithms, particularly for applications in computer vision, interaction with complex environments, and autonomous navigation. His work also includes innovative solutions for pose estimation, trajectory planning, and the management of friction-induced vibrations, with experimental validation on a variety of robotic platforms, ranging from robotic arms to drones and ground vehicles.

Publication(s)

2024
A Nonlinear Observer Approach to Diagonally Decoupled Direct Visual Servo Control DOI : 10.1109/TCST.2024.3415236
2023
Cascade architecture for nonlinear control of transient and stationary regimes of friction-induced vibrations DOI : 10.1007/s11071-022-08150-7
2023
Airflow-based odometry for MAVs using thermal anemometers DOI : 10.1177/17568293221148385
2021
Model Predictive Control with Obstacle Avoidance for Inertia Actuated AFM Probes Inside a Scanning Electron Microscope DOI : 10.1109/LRA.2020.2974388
2020
Identification and evaluation of a force model for multirotor UAVs DOI : 10.1109/ICRA40945.2020.9197317
2020
Decoupled Intensity-Based Nonmetric Visual Servo Control DOI : 10.1109/TCST.2018.2873541
2020
Nonlinear observer design on SL(3) for homography estimation by exploiting point and line correspondences with application to image stabilization DOI : 10.1016/j.automatica.2020.108858
2019
Feature-based recursive observer design for homography estimation and its application to image stabilization DOI : 10.1002/asjc.2012
2019
Feedback Control of a Motorized Skateboard DOI : 10.1109/TAC.2018.2830509
2018
Editorial for special collection on the estimation and control of MAV navigation in GPS-denied cluttered environments DOI : 10.1177/1756829318772901
2018
Micro air vehicle local pose estimation with a two-dimensional laser scanner: A case study for electric tower inspection DOI : 10.1177/1756829317745316
2017
Uniform observability of linear time-varying systems and application to robotics problems DOI : 10.1007/978-3-319-68445-1_39
2017
Feature-based pose estimation on-board MAVs equipped with 2D laser scanners for the automatic inspection of electric towers DOI : 10.1109/RoMoCo.2017.8003894
2017
Model-based pose estimation on-board MAVs equipped with 2D laser scanners for the automatic inspection of electric towers DOI : 10.1109/RoMoCo.2017.8003895
2017
Stabilization of a class of underactuated vehicles with uncertain position measurements and application to visual servoing DOI : 10.1016/j.automatica.2016.11.012
2016
Modeling and control of wheeled mobile robots DOI : 10.1007/978-3-319-32552-1_49
2016
Modeling and Control of Wheeled Mobile Robots DOI : 10.1007/978-3-319-32552-1_49
2015
Modeling and control of convertible micro air vehicles DOI : 10.1109/RoMoCo.2015.7219734
2015
Nonlinear feedback control of axisymmetric aerial vehicles DOI : 10.1016/j.automatica.2014.12.031
2015
Control of VTOL vehicles with thrust-tilting augmentation DOI : 10.1016/j.automatica.2014.10.129
2014
Control of a new convertible UAV with a minimal sensor suite DOI : 10.1109/CDC.2014.7039386
2014
A novel approach to the automatic control of scale model airplanes DOI : 10.1109/CDC.2014.7039480
2014
Visual servoing for underactuated VTOL UAVs: A linear, homography-based framework DOI : 10.1002/rnc.2987
2014
A linear approach to visuo-inertial fusion for homography-based filtering and estimation DOI : 10.1109/IROS.2014.6942990
2013
Visuo-inertial fusion for homography-based filtering and estimation DOI : 10.1109/IROS.2013.6697106
2013
Nonlinear control of aerial vehicles subjected to aerodynamic forces DOI : 10.1109/CDC.2013.6760648
2013
Modeling and energy evaluation of small convertible UAVs
2013
Modeling and energy evaluation of small convertible UAVs ? DOI : 10.3182/20131120-3-FR-4045.00004
2013
Nonlinear control of unicycle-like robots for person following DOI : 10.1109/IROS.2013.6696841
2013
Decoupled direct visual servoing DOI : 10.1109/IROS.2013.6696334
2013
Introduction to feedback control of underactuated VTOL vehicles DOI : 10.1109/MCS.2012.2225931
2012
Feedback control of a redundant wheeled snake mechanism using transverse functions on SO(4) DOI : 10.3182/20120905-3-HR-2030.00020
2012
Feedback control of the general two-trailers system with the Transverse Function approach DOI : 10.1109/CDC.2012.6427071
2012
Nonlinear control of underactuated vehicles with uncertain position measurements and application to visual servoing DOI : 10.1109/acc.2012.6315115
2012
Nonlinear complementary filters on the special linear group DOI : 10.1080/00207179.2012.693951
2011
Homography estimation on the Special Linear group based on direct point correspondence DOI : 10.1109/CDC.2011.6160724
2011
Haptic-based bilateral teleoperation of underactuated unmanned aerial vehicles DOI : 10.3182/20110828-6-IT-1002.02989
2011
Visual servoing for underactuated VTOL UAVs: A linear, homography-based approach DOI : 10.1109/ICRA.2011.5979741
2011
Control of two-steering-wheels vehicles with the Transverse Function approach DOI : 10.1109/CDC.2011.6160200
2011
Nonlinear control of PVTOL vehicles subjected to drag and lift DOI : 10.1109/CDC.2011.6160712
2011
Nonlinear filter design for pose and IMU bias estimation DOI : 10.1109/ICRA.2011.5979795
2011
A nonlinear observer approach for concurrent estimation of pose, IMU Bias and camera-to-IMU rotation DOI : 10.1109/IROS.2011.6048271
2010
Estimation of homography dynamics on the special linear group DOI : 10.1007/978-1-84996-089-2_8
2010
Feedback control of a wheeled snake mechanism with the transverse function approach DOI : 10.1109/CDC.2010.5717619
2009
Control of a class of thrust-propelled underactuated vehicles and application to a VTOL drone DOI : 10.1109/ROBOT.2009.5152210
2009
Dynamic estimation of homography transformations on the special linear group for visual servo control DOI : 10.1109/ROBOT.2009.5152384
2009
Control of nonholonomic mobile robots based on the transverse function approach DOI : 10.1109/TRO.2009.2014123
2009
A control approach for thrust-propelled underactuated vehicles and its application to VTOL drones DOI : 10.1109/TAC.2009.2024569
2009
Tracking control of the trident snake robot with the transverse function approach DOI : 10.1109/CDC.2009.5399958
2009
Transverse functions on special orthogonal groups for vector fields satisfying the LARC at the order one DOI : 10.1109/CDC.2009.5400526
2008
Stabilization of trajectories for systems on lie groups. Application to the rolling sphere DOI : 10.3182/20080706-5-KR-1001.2439
2008
Transverse Function control of a class of non-invariant driftless systems. Application to vehicles with trailers DOI : 10.1109/CDC.2008.4739080
2007
Balanced-force-control of underactuated thrust-propelled vehicles DOI : 10.1109/CDC.2007.4434268
2006
A framework for the control of nonholonomic mobile manipulators DOI : 10.1177/0278364906068374
2006
Trajectory tracking for nonholonomic vehicles DOI : 10.1007/978-1-84628-405-2_1
2006
Control of a nonholonomic mobile robot via sensor-based target tracking and pose estimation DOI : 10.1109/IROS.2006.282282
2006
Control with transverse functions and a single generator of underactuated mechanical systems DOI : 10.1109/cdc.2006.377277
2005
Control of underactuated mechanical systems by the transverse function approach DOI : 10.1109/CDC.2005.1583373
2005
Practical and asymptotic stabilization of chained systems by the transverse function control approach DOI : 10.1137/S0363012903421868
2004
Trajectory tracking for non-holonomic vehicles: Overview and case study DOI : 10.1109/romoco.2004.240574
2003
Practical and asymptotic stabilization of the 3-d chained system by the transverse function approach
2003
Practical Stabilization of Driftless Systems on Lie Groups: The Transverse Function Approach DOI : 10.1109/TAC.2003.816963
2003
Stabilisation de systemes non linèaires sans dérive: I'approche par fonctions transverses DOI : 10.3166/jesa.37.213-244
2003
Field-oriented control of induction motors by application of the transverse function control approach DOI : 10.1109/CDC.2003.1271952
2002
Practical stabilization of driftless systems on Lie groups
2002
A characterization of the Lie algebra rank condition by transverse periodic functions DOI : 10.1137/S0363012900366054
2001
Chained form approximation of a driftless system. Application to the exponential stabilization of the general N-trailer system DOI : 10.1080/00207170110086935
2001
Practical stabilization of driftless homogeneous systems based on the use of transverse periodic functions
2000
A characterization of the lie algebra rank condition by transverse periodic functions
2000
Practical stabilization of a class of nonlinear systems. Application to chain systems and mobile robots
2000
Control of nonlinear chained systems: from the Routh-Hurwitz stability criterion to time-varying exponential stabilizers DOI : 10.1109/9.827372
2000
Robust stabilization of driftless systems with hybrid open-loop/feedback control DOI : 10.1109/ACC.2000.876959
1999
Non-robustness of continuous homogeneous stabilizers for affine control systems
1999
Design of homogeneous time-varying stabilizing control laws for driftless controllable systems via oscillatory approximation of Lie brackets in closed loop DOI : 10.1137/S0363012997315427
1999
Exponential stabilization of nonlinear driftless systems with robustness to unmodeled dynamics DOI : 10.1051/cocv:1999101
1999
Note on the design of homogeneous time-varying stabilizing control laws for driftless controllable systems via oscillatory approximation of Lie brackets in closed-loop
1999
On the robust stabilization of chained systems by continuous feedback
1998
Time-varying homogeneous feedback: Design tools for the exponential stabilization of systems with drift DOI : 10.1080/002071798221605
1997
Control of nonlinear chained systems. From the Routh-Hurwitz stability criterion to time-varying exponential stabilizers
1997
Time-varying exponential stabilization of a rigid spacecraft with two control torques DOI : 10.1109/9.566663
1997
Application of backstepping techniques to the time-varying exponential stabilisation of chained form systems DOI : 10.1016/s0947-3580(97)70059-1
1996
Time-varying exponential stabilization of chained form systems based on backstepping technique
1996
Robust stabilisation of the angular velocity of a rigid body with two controls DOI : 10.1016/S0947-3580(96)70028-6
1995
Time-varying feedback stabilization of the attitude of a rigid spacecraft with two controls DOI : 10.1016/0167-6911(94)00095-D
1995
Time-varying exponential stabilization of the attitude of a rigid spacecraft with two controls
1994
Time-varying feedback stabilization of the attitude of a rigid spacecraft with two controls

Teaching

Applied Mathematics: Robotics, Computer Vision, and Control Systems (MAREVA) track

Guest Lecturer

Second-Year Curriculum The courses and educational activities offered in the second year are the same for all students who have chosen the MAREVA program and take place in Paris. The second-year curriculum focuses on the study of Complex Systems: discrete-time dynamic systems, filtering and identification, embedded sensors and data fusion, image processing, and medical imaging. This module is supplemented by introductory lectures on robotics and ITS, virtual reality and augmented reality, C++ programming and graphical programming sessions, as well as mini-project sessions conducted in pairs, supervised by researchers from the centers, and applying the concepts covered in class. Here are a few examples of mini-projects completed in recent years: lateral control (Lane Keeping, ESP) and longitudinal control of a vehicle (ACC); color-sensor-based control of a small car on a white line; evaluation of a consumer motion-capture system (the Wiimote); 3D point cloud registration for digital mapping; modeling and stabilization of a diver; image editing based on hierarchical segmentation; modeling and control of construction cranes; estimation and control algorithms for a mobile robot developed by SAGEM; development of parking algorithms, validation, and testing using 3D graphics software; implementation of human-environment interactions in a virtual kitchen. Third-Year Curriculum In the third year, the activities for the month of October remain the same for all students. The first two weeks in Paris are devoted to courses, notably on computer vision and image processing in the automotive context, on nonlinear control and its applications in robotics, on humanoid robots, on discrete-event systems, and on systems with delays.... A one-week intensive course in computer vision and mathematical morphology held in November rounds out the training for the Computer Vision and Robotics specializations. The last two weeks of October are dedicated to mini-projects (at a more advanced level than those in the second year), as well as to the optional field trip during which students visit laboratories and companies. Over the past four years, the trip has been organized to Italy and the Rhône-Alpes region (STMicroelectronics, ISPRA, INRIA Rhône-Alpes, LAG ...), in the Nice and Monaco region (INRIA Sophia-Antipolis, Thalès Alénia Space, the Automata Museum ...), in Germany in Stuttgart and Munich (Bosch, Mercedes, German Aerospace ...), and in Toulouse (CNES, LAAS, Pierre Fabre Laboratories...), and in Bordeaux (LABRI, LAPS, Laser MégaJoule, Thales, EvTronic, BeTomorrow...). These trips provide excellent opportunities to establish valuable contacts for elective internships in the third year. Internship topics for the third year are pooled and proposed equally by faculty members from the school’s various applied mathematics centers (CAOR, CAS, CMA, CMM), often in connection with their collaborative work with industry partners. It should be noted that each year, the number of internships offered far exceeds the number of students taking the elective! Some representative elective topics covered in recent years: Control Systems: Exo-atmospheric guidance of Ariane V – EADS (Control Systems); Signal processing using filter banks (IFP); Development of a method for analyzing ECG signals using inverse scattering (INRIA); Simulation and control of humanoid robots (ATR Computational Neuroscience Laboratory, Kyoto); Synthesis of flight control correctors for a supersonic aerobatic vehicle (ONERA); Validation of vehicle models for control and command (PSA) Quantification of maximum permissible disturbances on the control surfaces of a winged vehicle during atmospheric reentry (EADS) Parameter estimation for quantum systems (Princeton University) Optimization of electricity generation (EDF, Clamart) Sizing of natural gas transmission networks, (GdF Suez, Saint-Denis) Robotics: Computer Vision-Assisted Driving (INRIA/CAOR) Improving Road Safety and Comfort via Global Chassis Control (PSA) Identification of Available Traction for a Vehicle (NEXYAD, ARCOS project) Configuration of a force-feedback system in virtual reality (CEA/CAOR) Vehicle-to-infrastructure communication on highways (ASFA) Virtual vehicle coupling for convoy driving (INRIA) Development of a humanoid robot behavior editor (Aldebaran Robotics) Motion planning for humanoid robots (Joint Research Laboratory Tsukuba) Development of a social robot (Advanced Telecommunications Research, Kyoto) The Cybercars Olympics: a competition featuring smart vehicles on the “road of the future” in Saint-Brieuc (Côtes d’Armor General Council) Simulation and position estimation for a quadcopter drone (Parrot, Paris) Preparation of the French pavilion at the Shanghai World Expo on ITS Road traffic modeling, Millennium project (University of Berkeley) Neural algorithms for perception (MIT, Cambridge) Spherical vision sensor for autonomous mobile robotics (INRIA Sophia-Antipolis) Vision: Automatic image annotation (LTU, Paris) Indexing of medical images (CEA, Fontenay-aux-Roses) Environmental sensor for a telematics service (PSA, Vélizy) Segmentation of medical images for radiation therapy (Gustave Roussy Institute, Villejuif) Fingerprint image analysis (SAGEM, Eragny-sur-Oise) Analysis of sports video sequences (Thomson Broadcast, Breda, Netherlands) Compression/deconvolution optimization (Alcatel Space Industries, Cannes) Quantitative cytology and drug discovery (CSIRO, Sydney, Australia) 3D morphogenesis of the mouse kidney (Monash University, Clayton, Australia) Video scene interpretation (Bosch, Hildesheim, Germany) Geolocation of a landscape (Google Earth, USA) Quality control of photovoltaic glass (Saint-Gobain, China) Image analysis for studying the mechanical properties of bone (University of Adelaide, Australia) Special features of the track: Students greatly appreciate working on these mini-projects. It is an excellent way to deepen their understanding of and apply the concepts covered in class, as well as a great opportunity to meet researchers from the school’s various laboratories and gain their first—albeit limited—experience in the research environment.

PhD supervision

2025 Swarm Drone Control for Collaborative Exploration COLOMBINI-LJUNGBERG Oliver