Tutorials/Recent talks :


• Symmetry-preserving observers. Tutorial. CDC 2009. (Download pdf)

• Invariant Extended Kalman Filter: Theory and Application to a GPS Velocity-Aided Attitude Estimation Problem. CDC 2009. (Download pdf)

Journals :

• S. Bonnabel, R. Sepulchre. Rank-preserving geometric means of positive semi-definite matrices. (http://arxiv.org/abs/1007.5494)

• G. Meyer, S. Bonnabel, R. Sepulchre. Regression on fixed-rank positive semidefinite matrices: a Riemannian approach. Submitted http://arxiv.org/abs/1006.1288 .

• S. Bonnabel; A simple intrinsic reduced-observer for geodesic flow. Accepted for publication in IEEE TAC. http://arxiv.org/abs/0811.3709

• D. Auroux and S. Bonnabel; Symmetry-preserving observers for water tank problems: theory and application to an oceanography data assimilation example. Accepted for publication in IEEE TAC. http://arxiv.org/abs/0809.1400

• 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. http://arxiv.org/abs/0807.4462

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

• A. Sarlette, S. Bonnabel and R. Sepulchre; Coordinated motion design on Lie groups. IEEE Trans. Automatic Control. In press. http://arxiv.org/abs/0807.4416

• S. Bonnabel, P. Martin, P. Rouchon: Nonlinear Symmetry Preserving Observers on Lie Groups http://arxiv.org/abs/0707.2286 IEEE Trans. Automatic Control. Vol 54 (7) pp:1709 - 1713, 2009. (Download pdf)

• S. Bonnabel, Ph. Martin, P. Rouchon; Symmetry-preserving observers. IEEE Trans. Automatic Control. Vol 53, pp:2514-2526, 2008. http://arxiv.org/abs/math.OC/0612193 (Download pdf)

Book chapters :

• 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. (Télécharger le fichier pdf)

Conference proceedings

• S. Bonnabel, R. Sepulchre. Rank-preserving geometric means of positive semi-definite matrices. MTNS 2010.

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

• R. Sepulchre, P-A. Absil, S. Bonnabel. Géométrie des matrices semi-définies positives de rang fixé: un peu de théorie, et beaucoup d'applications. CIFA 2010. (Télécharger le fichier pdf)

• G. Meyer, M. Journée, 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. Shanghai, 2009. (Download pdf)

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

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

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

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

• 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).

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

Internal reports :

• S. Bonnabel and P. Rouchon : Inertial navigation and filtering : A comparison between Luenberger observers and Kalman Filter on a particular example. (Télécharger le fichier pdf)

Industrial applications :

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

Other talks :

• PhD defense. (Télécharger le fichier pdf)

• Symmetry-preserving observers for water tank problems: theory and application to an oceanography data assimilation example (see also PhD manuscript) (Download pdf)

PhD thesis (Télécharger le fichier pdf)