<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-01714851</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-19T09:01:50+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">Cooperative On-line Object Detection using Multi-Robot Formation</title>
            <author role="aut">
              <persName>
                <forename type="first">José Miguel</forename>
                <surname>Vilca Ventura</surname>
              </persName>
              <idno type="idhal" notation="numeric">778313</idno>
              <idno type="halauthorid" notation="string">1036414-778313</idno>
              <idno type="IDREF">https://www.idref.fr/193529866</idno>
              <affiliation ref="#struct-186882"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Lounis</forename>
                <surname>Adouane</surname>
              </persName>
              <email type="md5">891334adb6048bba98312c5477664e84</email>
              <email type="domain">utc.fr</email>
              <idno type="idhal" notation="string">lounis-adouane</idno>
              <idno type="idhal" notation="numeric">16043</idno>
              <idno type="halauthorid" notation="string">36397-16043</idno>
              <idno type="IDREF">https://www.idref.fr/103893148</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-5686-5279</idno>
              <affiliation ref="#struct-490691"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Ahmed</forename>
                <surname>Benzerrouk</surname>
              </persName>
              <idno type="halauthorid">366760-0</idno>
              <affiliation ref="#struct-954"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Y.</forename>
                <surname>Mezouar</surname>
              </persName>
              <email type="md5">408abfc8fd804e9af6327eafc08d02bf</email>
              <email type="domain">sigma-clermont.fr</email>
              <idno type="idhal" notation="string">youcef-mezouar</idno>
              <idno type="idhal" notation="numeric">16091</idno>
              <idno type="halauthorid" notation="string">1014902-16091</idno>
              <idno type="ORCID">https://orcid.org/0000-0001-8138-3928</idno>
              <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=jODWpzQAAAAJ&amp;hl=fr</idno>
              <idno type="IDREF">https://www.idref.fr/059347805</idno>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Lounis</forename>
                <surname>Adouane</surname>
              </persName>
              <email type="md5">891334adb6048bba98312c5477664e84</email>
              <email type="domain">utc.fr</email>
            </editor>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2018-02-23 01:04:00</date>
              <date type="whenModified">2023-04-22 04:32:49</date>
              <date type="whenReleased">2018-02-26 14:05:43</date>
              <date type="whenProduced">2012-05</date>
              <date type="whenEndEmbargoed">2018-02-23</date>
              <ref type="file" target="https://hal.science/hal-01714851v1/document">
                <date notBefore="2018-02-23"/>
              </ref>
              <ref type="file" subtype="author" n="1" target="https://hal.science/hal-01714851v1/file/2012_Vilca_CAR.pdf" id="file-1715764-1756627">
                <date notBefore="2018-02-23"/>
              </ref>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="116148">
                <persName>
                  <forename>Lounis</forename>
                  <surname>Adouane</surname>
                </persName>
                <email type="md5">891334adb6048bba98312c5477664e84</email>
                <email type="domain">utc.fr</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-01714851</idno>
            <idno type="halUri">https://hal.science/hal-01714851</idno>
            <idno type="halBibtex">vilcaventura:hal-01714851</idno>
            <idno type="halRefHtml">&lt;i&gt;7th National Conference on Control Architectures of Robots (CAR'12)&lt;/i&gt;, May 2012, Nancy, France</idno>
            <idno type="halRef">7th National Conference on Control Architectures of Robots (CAR'12), May 2012, Nancy, France</idno>
            <availability status="restricted">
              <licence target="https://about.hal.science/hal-authorisation-v1/">HAL Authorization<ref corresp="#file-1715764-1756627"/></licence>
            </availability>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="PRES_CLERMONT">Université de Clermont</idno>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="UNIV-BPCLERMONT" corresp="PRES_CLERMONT">Université Blaise Pascal - Clermont-Ferrand II</idno>
            <idno type="stamp" n="INSTITUT_PASCAL" corresp="PRES_CLERMONT">Institut Pascal</idno>
            <idno type="stamp" n="TDS-MACS">Réseau de recherche en Théorie des Systèmes Distribués, Modélisation, Analyse et Contrôle des Systèmes</idno>
            <idno type="stamp" n="TEST3-HALCNRS">TEST3-HALCNRS</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
            <note type="invited" n="0">No</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
            <note type="proceedings" n="0">No</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">Cooperative On-line Object Detection using Multi-Robot Formation</title>
                <author role="aut">
                  <persName>
                    <forename type="first">José Miguel</forename>
                    <surname>Vilca Ventura</surname>
                  </persName>
                  <idno type="idhal" notation="numeric">778313</idno>
                  <idno type="halauthorid" notation="string">1036414-778313</idno>
                  <idno type="IDREF">https://www.idref.fr/193529866</idno>
                  <affiliation ref="#struct-186882"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Lounis</forename>
                    <surname>Adouane</surname>
                  </persName>
                  <email type="md5">891334adb6048bba98312c5477664e84</email>
                  <email type="domain">utc.fr</email>
                  <idno type="idhal" notation="string">lounis-adouane</idno>
                  <idno type="idhal" notation="numeric">16043</idno>
                  <idno type="halauthorid" notation="string">36397-16043</idno>
                  <idno type="IDREF">https://www.idref.fr/103893148</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-5686-5279</idno>
                  <affiliation ref="#struct-490691"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Ahmed</forename>
                    <surname>Benzerrouk</surname>
                  </persName>
                  <idno type="halauthorid">366760-0</idno>
                  <affiliation ref="#struct-954"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Y.</forename>
                    <surname>Mezouar</surname>
                  </persName>
                  <email type="md5">408abfc8fd804e9af6327eafc08d02bf</email>
                  <email type="domain">sigma-clermont.fr</email>
                  <idno type="idhal" notation="string">youcef-mezouar</idno>
                  <idno type="idhal" notation="numeric">16091</idno>
                  <idno type="halauthorid" notation="string">1014902-16091</idno>
                  <idno type="ORCID">https://orcid.org/0000-0001-8138-3928</idno>
                  <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=jODWpzQAAAAJ&amp;hl=fr</idno>
                  <idno type="IDREF">https://www.idref.fr/059347805</idno>
                </author>
              </analytic>
              <monogr>
                <meeting>
                  <title>7th National Conference on Control Architectures of Robots (CAR'12)</title>
                  <date type="start">2012-05</date>
                  <settlement>Nancy</settlement>
                  <country key="FR">France</country>
                </meeting>
                <imprint/>
              </monogr>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <keywords scheme="author">
                <term xml:lang="en">Telemetry</term>
                <term xml:lang="en">Parameter identification</term>
                <term xml:lang="en">Obstacle detection</term>
                <term xml:lang="en"> Mobile robot navigation</term>
                <term xml:lang="en"> Formation control</term>
                <term xml:lang="en">component—Multi-robot system</term>
              </keywords>
              <classCode scheme="halDomain" n="spi.auto">Engineering Sciences [physics]/Automatic</classCode>
              <classCode scheme="halDomain" n="info.info-au">Computer Science [cs]/Automatic Control Engineering</classCode>
              <classCode scheme="halDomain" n="info.info-ai">Computer Science [cs]/Artificial Intelligence [cs.AI]</classCode>
              <classCode scheme="halDomain" n="info.info-rb">Computer Science [cs]/Robotics [cs.RO]</classCode>
              <classCode scheme="halDomain" n="info.info-sy">Computer Science [cs]/Systems and Control [cs.SY]</classCode>
              <classCode scheme="halTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halOldTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halTreeTypology" n="COMM">Conference papers</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>—This paper presents an online method for a cooperative mobile robots navigation using local robot's reference frame. The group of robots must navigate while keeping a geometric shape. To achieve with distributed and reactive way the Multi-Robot Formation (MRF), a cooperative object detection using range data is presented. This information will permits to detect the position of the leader robot in the formation. Indeed, in this work it is proposed that the leader can be surrounded by an ellipse and its parameters are obtained online using the sequential range data from all the mobile robots. An appropriate method is used to identify the enclosed ellipse. To perform the MRF, it is proposed to use a combination between behavior-based, dynamical virtual structure (already presented in [1] which use global reference frame) and leader-follower approach. Simulations will permit to show the efficiency of the proposed reactive and distributed cooperative navigation.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="laboratory" xml:id="struct-186882" status="OLD">
          <idno type="IdRef">162152442</idno>
          <idno type="RNSR">199412376H</idno>
          <orgName>Institut Pascal</orgName>
          <orgName type="acronym">IP</orgName>
          <date type="start">1996-01-01</date>
          <date type="end">2016-12-31</date>
          <desc>
            <address>
              <addrLine>Campus Universitaire des Cézeaux, 4 avenue Blaise Pascal, TSA 60026 / CS 60026, 63178 Aubière Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.ip.univ-bpclermont.fr/</ref>
          </desc>
          <listRelation>
            <relation name="UMR6602" active="#struct-205618" type="direct"/>
            <relation active="#struct-322672" type="direct"/>
            <relation name="UMR6602" active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-490691" status="OLD">
          <idno type="IdRef">162152442</idno>
          <idno type="RNSR">199412376H</idno>
          <orgName>Institut Pascal</orgName>
          <orgName type="acronym">IP</orgName>
          <date type="start">2017-01-01</date>
          <date type="end">2020-12-31</date>
          <desc>
            <address>
              <addrLine>Campus Universitaire des Cézeaux, 4 avenue Blaise Pascal, TSA 60026 / CS 60026, 63178 Aubière Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.institutpascal.uca.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-322672" type="direct"/>
            <relation name="UMR6602" active="#struct-422708" type="direct"/>
            <relation name="UMR6602" active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-954" status="OLD">
          <orgName>Laboratoire des sciences et matériaux pour l'électronique et d'automatique</orgName>
          <orgName type="acronym">LASMEA</orgName>
          <date type="start">1994-01-01</date>
          <date type="end">1995-12-31</date>
          <desc>
            <address>
              <addrLine>24 Av des landais 63177 AUBIERE CEDEX</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://wwwlasmea.univ-bpclermont.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-205618" type="direct"/>
            <relation name="URA 1793" active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-205618" status="OLD">
          <orgName>Université Blaise Pascal - Clermont-Ferrand 2</orgName>
          <orgName type="acronym">UBP</orgName>
          <date type="end">2016-12-31</date>
          <desc>
            <address>
              <addrLine>34, avenue Carnot - BP 185 / 63006 Clermont-Ferrand cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-bpclermont.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-322672" status="OLD">
          <orgName>SIGMA Clermont</orgName>
          <orgName type="acronym">SIGMA Clermont</orgName>
          <date type="start">2016-01-01</date>
          <date type="end">2020-12-31</date>
          <desc>
            <address>
              <addrLine>SIGMA Clermont / Campus des Cézeaux  / CS 20265 / 63178 Aubière Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.sigma-clermont.fr/</ref>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-422708" status="OLD">
          <idno type="IdRef">196200032</idno>
          <idno type="ROR">https://ror.org/01a8ajp46</idno>
          <orgName>Université Clermont Auvergne [2017-2020]</orgName>
          <orgName type="acronym">UCA  [2017-2020]</orgName>
          <date type="start">2017-01-01</date>
          <date type="end">2020-12-31</date>
          <desc>
            <address>
              <addrLine>49, bd François-Mitterrand / CS 60032 / 63001 Clermont-Ferrand Cedex 1</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.uca.fr/</ref>
          </desc>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>