Silvère Bonnabel


 
silvere bonnabel
Journals :

• J. Maidens, A. Barrau, S. Bonnabel and M. Arcak. Symmetry reduction for dynamic programming. Provisionally accepted in Automatica.

• A. Barrau and S. Bonnabel. Invariant Kalman filtering. Annual Reviews of Control, Robotics, and Autonomous Systems. Vol 1. 2018.

• A. Barrau and S. Bonnabel. An EKF-SLAM algorithm with consistency properties. Conditionally accepted in IEEE Trans. on Robotics. (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)

• 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

• 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.

• 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. 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.

• 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 méthodes de gradient stochastique sur les variétés riemanniennes. In GRETSI. Bordeaux. 2011.

• S. Bonnabel, J.E. Deschaud and E. Salaün. 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. Salaün. 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. Robot Motion and Control 2011. 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. Géométrie des matrices semi-définies positives de rang fixé: un peu de théorie, et beaucoup d'applications. CIFA 2010. (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 (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-linéaire. CIFA 2006 (Conférence 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:

• 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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