Silvère Bonnabel


 
silvere bonnabel
Journals :

• S. Bonnabel and X. Claeys. Industrial Control of Tower Cranes: An Operator in the Loop Approach. IEEE Control Systems Magazine 40 (5), 27-39. October 2020.

• M. Brossard, S. Bonnabel and A. Barrau. Denoising IMU Gyroscopes with Deep Learning for Open-Loop Attitude Estimation. in IEEE Robotics and Automation Letters, vol. 5, no. 3, pp. 4796-4803, July 2020.

• T. Karvonen, S. Bonnabel, E. Moulines, S. Saarka. On Stability of a Class of Filters for Non-Linear Stochastic Systems. SIAM Journal on Control and Optimization 58 (4), 2023-2049. 2020.

• P. Chauchat, A Barrau, S Bonnabel. Factor graph based smoothing without matrix inversion for highly precise localization. IEEE Transactions on Control Systems Technology. IEEE Early Access. 2020.

• M. Brossard, S. Bonnabel and A. Barrau. A New Approach to 3D ICP Covariance Estimation. IEEE Robotics and Automation Letters 5 (2), pp: 744-751. 2020. (pdf)

• M. Brossard, A. Barrau and S. Bonnabel. AI-IMU Dead-Reckoning. IEEE Transactions on Intelligent Vehicles. vol. 5, no. 4, pp. 585-595, Dec. 2020. (pdf)

• A. Barrau and S. Bonnabel. Extended Kalman Filtering with Nonlinear Equality Constraints: a Geometric Approach. IEEE Trans. on Automatic Control, Vol 65(6), pp:2325-2338, 2020. (pdf)

• M. Pilte, S. Bonnabel and F. Livernet. A novel nonlinear least squares approach to highly maneuvering target tracking. Comptes-rendus Physique (Elsevier). Volume 20, Issue 3, Pages 228-239. 2019. (pdf)

• A. Barrau and S. Bonnabel. Linear observed systems on groups. Systems and Control Letters. Volume 129, pp: 36-42, 2019. (pdf)

• M. Brossard, A. Barrau and S. Bonnabel. Exploiting Symmetries to Design EKFs with Consistency Properties for Navigation and SLAM. IEEE Sensors Journal, Vol 19(4), pp: 1572 - 1579. 2019. (pdf)

• M. Pilte, S. Bonnabel, and F. Barbaresco. Fully-Adaptive Update Rate for Nonlinear Trackers. IET Radar, Sonar & Navigation. Vol 12(12), pp:1419 - 1428, 2018. (pdf)

• J. Maidens, A. Barrau, S. Bonnabel and M. Arcak. Symmetry reduction for dynamic programming. Automatica. Vol 97. pp:367-375, 2018. Automatica Paper Prize.

• A. Barrau and S. Bonnabel. Invariant Kalman filtering. Annual Reviews of Control, Robotics, and Autonomous Systems. Vol 1. pp:237-257, 2018. (pdf)

• A. Barrau and S. Bonnabel. The invariant extended Kalman filter as a stable observer. IEEE Trans. Automatic Control. Vol 62(4) pp:1797-1812, 2017. (pdf)

• A. Barrau and S. Bonnabel. An EKF-SLAM algorithm with consistency properties. Arxiv. 2015. (pdf)(slides)

• M. Barcsyk, S. Bonnabel, J.E. Deschaud and F. Goulette. Invariant EKF Design for Scan Matching-aided Localization. IEEE Trans. on Control Systems Technology. Vol 23(6) pp:2440 - 2448, 2015. (pdf)

• A. Barrau and S. Bonnabel. Intrinsic filtering on Lie groups with applications to attitude estimation. IEEE Trans. Automatic Control. Vol 60(2) pp:436 - 449, 2015.(pdf)

• S. Bonnabel and J.J. Slotine. A contraction theory-based analysis of the stability of the Extended Kalman Filter. IEEE Trans. Automatic Control. Vol 60(2) pp:565 - 569 , 2015.(pdf)

• B. Mishra, G. Meyer, S. Bonnabel and R. Sepulchre. Fixed-rank matrix factorizations and Riemannian low-rank optimization. Computational Statistics. Vol 29(3-4), pp: 591 - 621. 2014. (pdf)

• A. Collard S. Bonnabel, C. Phillips and R. Sepulchre. An anisotropy preserving metric for DTI processing. International Journal of Computer Vision. Vol 107(1), pp: 58 - 74. 2014. (pdf)

• S. Bonnabel. Stochastic gradient descent on Riemannian manifolds. IEEE Trans. on Automatic Control. Vol 58(9) pp:2217 - 2229 , 2013. (pdf)

• S. Bonnabel, A. Collard and R. Sepulchre. Rank-preserving geometric means of positive semi-definite matrices. Linear Algebra and its Applications. Volume 438, Issue 8, 2013, Pages 3202-3216. (pdf)

• S. Bonnabel and E. Salaun. Design and prototyping of a low-cost vehicle localization system with guaranteed convergence properties. Control Engineering Practice (CEP). Volume 19, Issue 6, June 2011, Pages 591-601. (pdf)

• G. Meyer, S. Bonnabel, R. Sepulchre. Regression on fixed-rank positive semidefinite matrices: a Riemannian approach. Journal of Machine Learning Reasearch (JMLR). 12(Feb):593-625, 2011. (pdf).

• D. Auroux and S. Bonnabel; Symmetry-based observers for some water-tank problems. IEEE Trans. on Automatic Control. Vol 56(5) pp:1046 - 1058, 2011. (pdf) (slides)

• S. Bonnabel; A simple intrinsic reduced-observer for geodesic flow. IEEE Trans. on Automatic Control. Vol 55(9) pp:2186 - 2191, 2010. (pdf)

• A. Sarlette, S. Bonnabel and R. Sepulchre; Coordinated motion design on Lie groups. IEEE Trans. Automatic Control. Vol 55(5), pp:1047 - 1058, 2010. (pdf)

• S. Bonnabel and R. Sepulchre; Geometric distance and mean for positive semi-definite matrices of fixed rank. SIAM. J. Matrix Anal. & Appl. 31 1055. 2009. (pdf)

• S. Bonnabel, M. Mirrahimi, P. Rouchon: Observer-based Hamiltonian identification for quantum systems. Automatica, 45: 1144-1155, 2009. (pdf)

• S. Bonnabel, P. Martin, P. Rouchon: Nonlinear Symmetry Preserving Observers on Lie Groups. IEEE Trans. Automatic Control. Vol 54 (7) pp:1709 - 1713, 2009. (pdf)

• S. Bonnabel, Ph. Martin, P. Rouchon; Symmetry-preserving observers. IEEE Trans. Automatic Control. Vol 53, pp:2514-2526, 2008. (pdf)

Book chapters :

• S. Bonnabel and R. Sepulchre: The geometry of low-rank Kalman filters. Matrix Information Geometry. pp53-68. Springer Verlag, 2012. (pdf)

Conference proceedings

• T Cantelobre, C Chahbazian, A Croux, S Bonnabel. A real-time unscented Kalman filter on manifolds for challenging AUV navigation IEEE International Conference on Intelligent Robots and Systems (IROS). 2020.

• M. Brossard, S. Bonnabel, A. Barrau. Denoising IMU Gyroscopes with Deep Learning for Open-Loop Attitude Estimation. IEEE International Conference on Intelligent Robots and Systems IROS. 2020. (pdf).

• A. Barrau and S. Bonnabel. A Mathematical Framework for IMU Error Propagation with Applications to Preintegration. The 2020 IEEE International Conference on Robotics and Automation (ICRA). 2020. (pdf).

• M. Brossard, A. Barrau, S. Bonnabel. A Code for Unscented Kalman Filtering on Manifolds (UKF-M). The 2020 IEEE International Conference on Robotics and Automation (ICRA). 2020. (pdf).

• Pilte M., Jouaber S., Bonnabel S., Barbaresco F., Fragu M., Honore N. Invariant Extended Kalman Filter Applied to Tracking for Air Traffic Control. The 2019 IEEE International Radar Conference (RADAR). 2019.

• P. Das, J. Vila-Valls, E. Chaumette, F. Vincent, L. Davain, S. Bonnabel. On the Accuracy Limit of Time-delay Estimation with a Band-limited Signal. In IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP). 2019.

• M. Brossard, A. Barrau, S. Bonnabel. RINS-W: Robust Inertial Navigation System on Wheels. The 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019). 2068-2075. 2019. (pdf).

• M Brossard, S Bonnabel. Learning Wheel Odometry and IMU Errors for Localization. The 2019 International Conference on Robotics and Automation (ICRA). 2019. DOI 10.1109/ICRA.2019.8794237 (pdf).

• S. Bonnabel and J.J. Slotine. Particle observers for state estimation and adaptation in deterministic systems with random piecewise constant inputs. In IEEE Conf on Decision and Control (CDC). 2018. (slides)

• A. Barrau and S. Bonnabel. Stochastic Observers on Lie Groups: A Tutorial. In IEEE Conf on Decision and Control (CDC). 2018. (pdf)

• T. Karvonen, S. Bonnabel, E. Moulines, S. Sarkka. Bounds on the Covariance Matrix of a Class of Kalman-Bucy Filters for Systems with Non-Linear Dynamics . In IEEE Conf on Decision and Control (CDC). 2018.

• P Chauchat, A Barrau, S Bonnabel. Invariant Smoothing on Lie Groups. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2018.

• M Brossard, S Bonnabel, A Barrau. Unscented Kalman Filter on Lie Groups for Visual Inertial Odometry. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2018. (pdf)(slides)

• M Brossard, S Bonnabel, A Barrau. Invariant Kalman Filtering for Visual Inertial SLAM. 21st International Conference on Information Fusion (FUSION), 2018. (pdf)

• M. Pilte, S. Bonnabel, and F. Barbaresco. Maneuver Detector for Active Tracking Update Rate Adaptation. IEEE International Radar Symposium (IRS). 2018.

• M. Brossard, J.P. Condomines, S. Bonnabel. Tightly Coupled Navigation and Wind Estimation for Mini UAVs. In AIAA Guidance, Navigation, and Control Conference. 2018. (pdf)

• S. Bonnabel and J.J. Slotine. Particle observers for contracting dynamical systems. In GSI'17. 2017.

• M. Pilte, S. Bonnabel, and F. Barbaresco. Drone tracking with an IEKF and an innovative UKF. In GSI'17. 2017.

• M Pilte, S Bonnabel, F Barbaresco. An innovative nonlinear filter for radar kinematic estimation of maneuvering targets in 2D. Radar Symposium (IRS), 2017 18th International, 1-10.

• P. Chauchat, A. Barrau and S. Bonnabel. Kalman filtering with a class of geometric state equality constraints. In IEEE Conference on Decision and Control (CDC). 2017. (pdf)

• M. Pilte, S. Bonnabel, and F. Barbaresco. Tracking the Frenet-Serret frame associated to a highly maneuvering target in 3D. In IEEE Conference on Decision and Control (CDC). 2017. (pdf)

• M. Brossard, S. Bonnabel, J.P. Condomines. Unscented Kalman Filtering on Lie Groups. In IEEE International Conference on Intelligent Robots and Systems (IROS). 2017. (pdf)

• A. Barrau and S. Bonnabel. Three examples of the stability properties of the invariant extended Kalman filter. In IFAC world congress. 2017. (pdf)

• M. Pilte, S. Bonnabel, and F. Barbaresco. An innovative nonlinear filter for radar kinematic estimation of maneuvering targets in 2D. IEEE Radar Symposium (IRS), 2017 18th International. 2017.

• M. Barczyk and S. Bonnabel. Realistic Covariance Estimation of ICP-based Kinect Scan Matching in 1D. In IEEE American Control Conference (ACC). 2017.

• J. Maidens, A. Barrau, S. Bonnabel and M. Arcak. Symmetry reduction for dynamic programming and application to MRI. In IEEE American Control Conference (ACC). 2017.

• A. Barrau and S. Bonnabel. Navigating with highly precise odometry and noisy GPS: a case study. In IFAC Symposium on Nonlinear Control Systems (NOLCOS). 2016. (pdf)

• S. Bonnabel, M. Barcsyk, and F. Goulette. On the Covariance of ICP-based Scan-matching Techniques. In IEEE American Control Conference (ACC). 2016. (pdf)

• A. Barrau and S. Bonnabel. Invariant filtering for Pose EKF-SLAM aided by an IMU. In IEEE Conference on Decision and Control (CDC). 2015. (pdf)

• S. Bonnabel and A. Barrau. An intrinsic Cramer-Rao bound on SO(3) for (dynamic) attitude filtering. In IEEE Conference on Decision and Control (CDC). 2015. (pdf)

• S. Bonnabel and A. Barrau. An intrinsic Cramer-Rao bound on Lie groups. In Geometric Science of Information (GSI). 2015. (pdf)

• S. Diemer and S. Bonnabel. An Invariant Linear Quadratic Gaussian controller for a simplified car. In IEEE Conference on Robotics and Automation (ICRA). 2015. (pdf)

• A. Barrau and S. Bonnabel. Invariant Particle Filtering with application to localization. In IEEE Conference on Decision and Control (CDC). 2014.

• M. Barcsyk, S. Bonnabel, J.E. Deschaud and F. Goulette. Experimental Implementation of an Invariant Extended Kalman Filter-based Scan Matching SLAM. In IEEE American Control Conference. ACC 2014. (pdf)

• J. Gregoire, S. Bonnabel and A. de la Fortelle. Priority-based intersection management with kinodynamic constraints. In European Control Conference. ECC 2014. France. (pdf)

• A. Barrau and S. Bonnabel. Intrinsic Filtering on SO(3) with Discrete-Time Observations. In IEEE Conference on Decision and Control (CDC). 2013.

• T.N. Dinh, S. Bonnabel and R. Sepulchre. Contraction-Based Design of Positive Observers. In IEEE Conference on Decision and Control (CDC). 2013.

• A. Barrau and S. Bonnabel. A note on the intrinsic Cramer-Rao bound. In Geometric Science of Information. Springer Lecture Notes in Computer Science. Vol 8085, 2013, pp 377-386. (pdf)

• E. Wirbel, B. Steux, S. Bonnabel and A. de La Fortelle. Humanoid robot navigation: from a visual SLAM to a visual compass. ICNSC 2013: IEEE 10th International Conference on Networking, Sensing and Control. 2013

• T. Hervier, S. Bonnabel, F. Goulette. Accurate 3D maps from depth images and motion sensors via nonlinear Kalman filtering. IEEE International Conference on Intelligent Robots and Systems (IROS). 2012. (pdf)

• J. Gregoire, S. Bonnabel and A. de la Fortelle. Optimal cooperative motion planning for vehicles at intersections. In IEEE Intelligent Vehicles Symposium. Spain. 2012.

• S. Bonnabel. Convergence des mιthodes de gradient stochastique sur les variιtιs riemanniennes. In GRETSI. Bordeaux. 2011.

• S. Bonnabel, J.E. Deschaud and E. Salaόn. A simple nonlinear filter for low-cost ground vehicle localization system. In IEEE Conference on Decision and Control (CDC). 2011. (pdf)(slides)

• S. Bonnabel, A. Astolfi, and R. Sepulchre. Contraction and Observer Design on Cones. In IEEE Conference on Decision and Control (CDC). 2011. (pdf)(slides)

• G. Meyer, S. Bonnabel and R. Sepulchre. Linear regression under fixed-rank constraints: a Riemannian approach. Proc. of the 28th International Conference on Machine Learning (ICML2011), Bellevue (USA), 2011. (pdf)

• S. Bonnabel, P. Martin, P. Rouchon, E. Salaόn. A separation principle on Lie groups. IFAC 2011. (pdf)(slides)

• S. Bonnabel. Symmetries in observer design: review of some recent results and applications to EKF-based SLAM. Lecture Notes in Control and Information Sciences, Vol. 422. Springer-Verlag, 2012. (pdf)

• S. Bonnabel, R. Sepulchre. Rank-preserving geometric means of positive semi-definite matrices. International Symposium on Mathematical Theory of Networks and Systems (MTNS) 2010.

• S. Bonnabel, G. Meyer, R. Sepulchre. Adaptive filtering for estimation for a low-rank positive semidefinite matrix. MTNS 2010. (slides)

• R. Sepulchre, P-A. Absil, S. Bonnabel. Gιomιtrie des matrices semi-dιfinies positives de rang fixι: un peu de thιorie, et beaucoup d'applications. CIFA 2010. (pdf)

• G. Meyer, M. Journιe, S. Bonnabel, R. Sepulchre. From subspace learning to distance learning : A geometrical optimization approach. Proceedings of the IEEE Workshop on Statistical Signal Processing (SSP 2009). 2009.

• S. Bonnabel, P. Martin, E.Salaun. Invariant Extended Kalman Filter: Theory and Application to a Velocity-Aided Attitude Estimation Problem. In IEEE Conference on Decision and Control (CDC). Shanghai, 2009. (pdf)(slides)

• S. Bonnabel and P. Rouchon: Fusion of visual and inertial: a geometrical observer-based approach. In CISA 2009. Zarzis, Tunisia, 2009. (pdf)

• A. Sarlette, S. Bonnabel and R. Sepulchre; Coordinated motion design on Lie groups. In IEEE Conference on Decision and Control (CDC). Cancun, 2008.

• S. Bonnabel, Ph. Martin, P. Rouchon ; Non-linear observer on Lie group for left-invariant dynamics with right-equivariant output. (IFAC 2008).

• S. Bonnabel, M. Mirrahimi, P. Rouchon; Qubit Hamiltonian identification : A symmetry-preserving observer based approach. (IFAC 2008). (slides)

• S. Bonnabel, G. Dubois, P. Rouchon ; A simple feedback-loop for a frequency lock on a narrow atomic transition. (IFAC 2008). (pdf) (slides)

• S. Bonnabel: Left-invariant extended Kalman filter and attitude estimation. In IEEE Conference on Decision and Control (CDC). 2007. (pdf)

• S. Bonnabel, Ph. Martin and P. Rouchon: A non-linear symmetry-preserving observer for velocity-aided inertial navigation. In American Control Conference. pp:2910--2914, June 2006. (pdf)

• S. Bonnabel, Ph. Martin and P. Rouchon: Groupe de Lie et observateur non-linιaire. CIFA 2006 (Confιrence Internationale Francophone d’Automatique), Bordeaux, France. June 2006. (pdf)

• S. Bonnabel and P. Rouchon: On Invariant Observers. Control and Observer Design for Nonlinear Finite and Infinite Dimensional Systems. Series: Lecture Notes in Control and Information Sciences, Vol. 322, Springer-Verlag, 2005. (pdf)

Miscellaneous :

• S. Bonnabel : Filtrage non-lineaire pour la navigation. Revue de l'Electricite et de l'Electronique (REE). Vol 1 - 2016 - pp. 10-13. (pdf)

• S. Bonnabel, E. Salaun ; An introduction to symmetry-preserving observers: Application to a multi-sensor data fusion tutorial example. Published in JESA. VOL 44/7 - 2010 - pp.743-770. (pdf)

• S. Bonnabel: Navigation inertielle et filtrage : une comparaison entre observateur de Luenberger et filtre de Kalman sur un exemple particulier. 2004. With P. Rouchon. (pdf)

• E. Wirbel, S. Bonnabel, F. Moutarde and A. de La Fortelle: Humanoid robot navigation: getting localization information from vision. Journal of Intelligent Systems, 23(2), 113-132.

Habilitation (HDR) :

• Habilitation (pdf)

• Referees' reports (in french) (pdf)

Industrial applications :

• High pressure polyethylene reactor of TOTAL PETROCHEMICALS. Carling- France

• Crane control (with POTAIN / MANITOWOC)

• Inertial navigation (with SAGEM / SAFRAN)

• Radar tracking (with THALES AIR SYSTEMS)

Patents:

• Title TBA. P. Chauchat, A. Barrau, S. Bonnabel. SAFRAN 2019.

• Anti-sway crane control system with a third order filter. S. Bonnabel, X. Claeys. MANITOWOC. 2017.

• Procdede de suivi de navigation d'un porteur mobile avec un filtre de kalman etendu. A. Barrau, S. Bonnabel. SAGEM/ARMINES. 2014.

• Invariant particle filter. A. Barrau, S. Bonnabel. SAGEM/ARMINES. 2014. WO 2016005532 A1

• Alignment method for an inertial unit. A. Barrau, S. Bonnabel. SAGEM/ARMINES. 2013. FR3013830. WO/2015/075248.

• Method for estimating the angular deviation of a mobile element relative to a reference direction. E. Wirbel, F. Duriez, A. de la Fortelle, B. Steux, S. Bonnabel. ALDEBARAN ROBOTICS/ARMINES. 2013. WO2014166986.

Some talks :

• Stochastic gradient descent on Riemannian manifolds. (pdf)

• A Riemannian geometry and a geometric mean on the space of low rank positive semi-definite matrices. (pdf)

• The geometry of low-rank Kalman filters. (pdf)

• Symmetry-preserving observers. (pdf)

PhD thesis (pdf)(defense)




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