A Simple Algebraic Solution for Estimating the Pose of a Camera from Planar Point Features.

Claude Samson Tarek Bouazza Tarek Hamel Claude Samson A Simple Algebraic Solution for Estimating the Pose of a Camera from Planar Point Features. 20189-20194 2025 IROS https://doi.org/10.1109/IROS60139.2025.11247643 conf/iros/2025 db/conf/iros/iros2025.html#BouazzaHS25 streams/conf/iros

Tarek Bouazza Tarek Hamel Claude Samson A Simple Algebraic Solution for Estimating the Pose of a Camera from Planar Point Features. 2025 August abs/2508.01836 CoRR https://doi.org/10.48550/arXiv.2508.01836 db/journals/corr/corr2508.html#abs-2508-01836 streams/journals/corr

Tarek Bouazza Tarek Hamel Claude Samson Observer design for visual-inertial estimation of pose, linear velocity and gravity direction in planar environments. 101067 2024 80 Eur. J. Control https://doi.org/10.1016/j.ejcon.2024.101067 db/journals/ejcon/ejcon80.html#BouazzaHS24 streams/journals/ejcon

Tomas Lopes de Oliveira Pieter van Goor Tarek Hamel Robert E. Mahony Claude Samson Pitot tube measure-aided air velocity and attitude estimation in GNSS denied environment. 101070 2024 80 Eur. J. Control https://doi.org/10.1016/j.ejcon.2024.101070 db/journals/ejcon/ejcon80.html#OliveiraGHMS24 streams/journals/ejcon

Ninad Manerikar Minh-Duc Hua Tarek Hamel Claude Samson Deterministic Riccati Observers for Homography Decomposition. 1955-1967 2024 November 32 IEEE Trans. Control. Syst. Technol. 6 https://doi.org/10.1109/TCST.2024.3381810 db/journals/tcst/tcst32.html#ManerikarHHS24 streams/journals/tcst

Tomas Lopes de Oliveira André Anglade Tarek Hamel Claude Samson Control of convertible UAV with vectorized thrust. 2023 abs/2311.02668 CoRR https://doi.org/10.48550/arXiv.2311.02668 db/journals/corr/corr2311.html#abs-2311-02668

Tarek Hamel Minh-Duc Hua Claude Samson Deterministic observer design for vision-aided inertial navigation. 1306-1313 2020 CDC https://doi.org/10.1109/CDC42340.2020.9304135 conf/cdc/2020 db/conf/cdc/cdc2020.html#HamelHS20 Simone De Marco Minh-Duc Hua Tarek Hamel Claude Samson Position, Velocity, Attitude and Accelerometer-Bias Estimation from IMU and Bearing Measurements. 1003-1008 2020 ECC https://doi.org/10.23919/ECC51009.2020.9143918 conf/eucc/2020 db/conf/eucc/eucc2020.html#MarcoHHS20

Tarek Hamel Minh-Duc Hua Claude Samson Correction to: "Position estimation from direction or range measurements". 2020 abs/2009.06278 CoRR https://arxiv.org/abs/2009.06278 db/journals/corr/corr2009.html#abs-2009-06278

Jean-Marie Kai Tarek Hamel Claude Samson A unified approach to fixed-wing aircraft path following guidance and control. 2019 108 Autom. https://doi.org/10.1016/j.automatica.2019.07.004 db/journals/automatica/automatica108.html#KaiHS19

Pascal Morin Claude Samson Feedback Control of a Motorized Skateboard. 628-639 2019 64 IEEE Trans. Autom. Control. 2 https://doi.org/10.1109/TAC.2018.2830509 https://www.wikidata.org/entity/Q129970784 db/journals/tac/tac64.html#MorinS19

André Anglade Jean-Marie Kai Tarek Hamel Claude Samson Automatic control of convertible fixed-wing drones with vectorized thrust. 5880-5887 2019 CDC https://doi.org/10.1109/CDC40024.2019.9029274 conf/cdc/2019 db/conf/cdc/cdc2019.html#AngladeKHS19

Tarek Hamel Claude Samson Riccati Observers for the Nonstationary PnP Problem. 726-741 2018 63 IEEE Trans. Autom. Control. 3 https://doi.org/10.1109/TAC.2017.2726179 db/journals/tac/tac63.html#HamelS18

Tarek Hamel Claude Samson Riccati Observers for Position Estimation Using (Pseudo) Range and Biased Velocity Information. 1332-1337 2018 CCTA https://doi.org/10.1109/CCTA.2018.8511594 conf/ccta/2018 db/conf/ccta/ccta2018.html#HamelS18 Jean-Marie Kai André Anglade Tarek Hamel Claude Samson Design and Experimental Validation of a New Guidance and Flight Control System for Scale-Model Airplanes. 4270-4276 2018 CDC https://doi.org/10.1109/CDC.2018.8619827 conf/cdc/2018 db/conf/cdc/cdc2018.html#KaiAHS18 Minh-Duc Hua Ninad Manerikar Tarek Hamel Claude Samson Attitude, Linear Velocity and Depth Estimation of a Camera Observing a Planar Target Using Continuous Homography and Inertial Data. 1429-1435 2018 ICRA https://doi.org/10.1109/ICRA.2018.8460512 conf/icra/2018 db/conf/icra/icra2018.html#HuaMHS18

Jean-Marie Kai Tarek Hamel Claude Samson A nonlinear global approach to scale-model aircraft path following control. 2018 abs/1803.05184 CoRR http://arxiv.org/abs/1803.05184 db/journals/corr/corr1803.html#abs-1803-05184

Tarek Hamel Claude Samson Position estimation from direction or range measurements. 137-144 2017 82 Autom. https://doi.org/10.1016/j.automatica.2017.04.045 db/journals/automatica/automatica82.html#HamelS17

Minh-Duc Hua Tarek Hamel Claude Samson Riccati nonlinear observer for velocity-aided attitude estimation of accelerated vehicles using coupled velocity measurements. 2428-2433 2017 CDC https://doi.org/10.1109/CDC.2017.8264005 conf/cdc/2017 db/conf/cdc/cdc2017.html#HuaHS17 Jean-Marie Kai Tarek Hamel Claude Samson A nonlinear approach to the control of a disc-shaped aircraft. 2750-2755 2017 CDC https://doi.org/10.1109/CDC.2017.8264058 conf/cdc/2017 db/conf/cdc/cdc2017.html#KaiHS17

Tarek Hamel Claude Samson Transverse function control of a motorboat. 132-139 2016 65 Autom. https://doi.org/10.1016/j.automatica.2015.11.040 db/journals/automatica/automatica65.html#HamelS16

Tarek Hamel Claude Samson Riccati observers for position and velocity bias estimation from direction measurements. 2047-2053 2016 CDC https://doi.org/10.1109/CDC.2016.7798565 conf/cdc/2016 db/conf/cdc/cdc2016.html#HamelS16 Claude Samson Pascal Morin Roland Lenain Modeling and Control of Wheeled Mobile Robots. 1235-1266 2016 Springer Handbook of Robotics, 2nd Ed. https://doi.org/10.1007/978-3-319-32552-1_49 reference/robo/2016 db/reference/robo/robo2016.html#SamsonML16

Tarek Hamel Claude Samson Riccati observers for position and velocity bias estimation from either direction or range measurements. 2016 abs/1606.07735 CoRR http://arxiv.org/abs/1606.07735 db/journals/corr/corr1606.html#HamelS16

Minh-Duc Hua Tarek Hamel Pascal Morin Claude Samson Control of VTOL vehicles with thrust-tilting augmentation. 1-7 2015 52 Autom. https://doi.org/10.1016/j.automatica.2014.10.129 db/journals/automatica/automatica52.html#HuaHMS15

Daniele Pucci Tarek Hamel Pascal Morin Claude Samson Nonlinear feedback control of axisymmetric aerial vehicles. 72-78 2015 53 Autom. https://doi.org/10.1016/j.automatica.2014.12.031 db/journals/automatica/automatica53.html#PucciHMS15

Florent Le Bras Tarek Hamel Robert E. Mahony Claude Samson Observer design for position and velocity bias estimation from a single direction output. 7648-7653 2015 CDC https://doi.org/10.1109/CDC.2015.7403428 conf/cdc/2015 db/conf/cdc/cdc2015.html#BrasHMS15 Tarek Hamel Claude Samson Control of a motorboat with the Transverse Function approach. 25-32 2015 SyRoCo https://doi.org/10.1016/j.ifacol.2015.12.005 conf/syroco/2015 db/conf/syroco/syroco2015.html#HamelS15

Florent Le Bras Tarek Hamel Robert E. Mahony Claude Samson Observer design for position and velocity bias estimation from a single direction output. 2015 abs/1503.07680 CoRR http://arxiv.org/abs/1503.07680 db/journals/corr/corr1503.html#BrasHMS15

Minh-Duc Hua Daniele Pucci Tarek Hamel Pascal Morin Claude Samson A novel approach to the automatic control of scale model airplanes. 805-812 2014 CDC https://doi.org/10.1109/CDC.2014.7039480 conf/cdc/2014 db/conf/cdc/cdc2014.html#HuaPHMS14

Daniele Pucci Tarek Hamel Pascal Morin Claude Samson Nonlinear Feedback Control of Axisymmetric Aerial Vehicles. 2014 abs/1403.5290 CoRR http://arxiv.org/abs/1403.5290 db/journals/corr/corr1403.html#PucciHMS14

Daniele Pucci Tarek Hamel Pascal Morin Claude Samson Nonlinear control of aerial vehicles subjected to aerodynamic forces. 4839-4846 2013 CDC https://doi.org/10.1109/CDC.2013.6760648 conf/cdc/2013 db/conf/cdc/cdc2013.html#PucciHMS13 Pascal Morin Claude Samson Feedback control of the general two-trailers system with the Transverse Function approach. 1003-1010 2012 CDC https://doi.org/10.1109/CDC.2012.6427071 conf/cdc/2012 db/conf/cdc/cdc2012.html#MorinS12 Pascal Morin Claude Samson Feedback Control of a Redundant Wheeled Snake Mechanism Using Transverse Functions on SO(4). 178-185 2012 SyRoCo https://doi.org/10.3182/20120905-3-HR-2030.00020 conf/syroco/2012 db/conf/syroco/syroco2012.html#MorinS12

Daniele Pucci Tarek Hamel Pascal Morin Claude Samson Modeling for Control of Symmetric Aerial Vehicles Subjected to Aerodynamic Forces http://arxiv.org/abs/1212.1629 2012 CoRR abs/1212.1629 db/journals/corr/corr1212.html#abs-1212-1629

Minh-Duc Hua Claude Samson Time sub-optimal nonlinear PI and PID controllers applied to longitudinal headway car control. 1717-1728 2011 84 Int. J. Control 10 https://doi.org/10.1080/00207179.2011.623721 db/journals/ijcon/ijcon84.html#HuaS11

Daniele Pucci Tarek Hamel Pascal Morin Claude Samson Nonlinear control of PVTOL vehicles subjected to drag and lift. 6177-6183 2011 CDC/ECC https://doi.org/10.1109/CDC.2011.6160712 conf/cdc/2011 db/conf/cdc/cdc2011.html#PucciHMS11 Pascal Morin Claude Samson Control of two-steering-wheels vehicles with the Transverse Function approach. 7349-7355 2011 CDC/ECC https://doi.org/10.1109/CDC.2011.6160200 conf/cdc/2011 db/conf/cdc/cdc2011.html#MorinS11 Pascal Morin Claude Samson Feedback control of a wheeled snake mechanism with the Transverse Function approach. 1991-1998 2010 CDC https://doi.org/10.1109/CDC.2010.5717619 conf/cdc/2010 db/conf/cdc/cdc2010.html#MorinS10

Minh-Duc Hua Tarek Hamel Pascal Morin Claude Samson A Control Approach for Thrust-Propelled Underactuated Vehicles and its Application to VTOL Drones. 1837-1853 2009 54 IEEE Trans. Autom. Control. 8 https://doi.org/10.1109/TAC.2009.2024569 db/journals/tac/tac54.html#HuaHMS09

Pascal Morin Claude Samson Control of Nonholonomic Mobile Robots Based on the Transverse Function Approach. 1058-1073 2009 25 IEEE Trans. Robotics 5 https://doi.org/10.1109/TRO.2009.2014123 db/journals/trob/trob25.html#MorinS09

Masato Ishikawa Pascal Morin Claude Samson Tracking control of the trident snake robot with the Transverse Function approach. 4137-4143 2009 CDC https://doi.org/10.1109/CDC.2009.5399958 https://www.wikidata.org/entity/Q56416899 conf/cdc/2009 db/conf/cdc/cdc2009.html#IshikawaMS09 Pascal Morin Claude Samson Transverse functions on special orthogonal groups for vector fields satisfying the LARC at the order one. 7472-7477 2009 CDC https://doi.org/10.1109/CDC.2009.5400526 conf/cdc/2009 db/conf/cdc/cdc2009.html#MorinS09 Minh-Duc Hua Tarek Hamel Pascal Morin Claude Samson Control of a class of thrust-propelled underactuated vehicles and application to a VTOL drone. 972-978 2009 ICRA https://doi.org/10.1109/ROBOT.2009.5152210 conf/icra/2009 db/conf/icra/icra2009.html#HuaHMS09 Pascal Morin Claude Samson Transverse Function control of a class of non-invariant driftless systems. Application to vehicles with trailers. 4312-4319 2008 CDC https://doi.org/10.1109/CDC.2008.4739080 conf/cdc/2008 db/conf/cdc/cdc2008.html#MorinS08 Pascal Morin Claude Samson Motion Control of Wheeled Mobile Robots. 799-826 2008 Springer Handbook of Robotics https://doi.org/10.1007/978-3-540-30301-5_35 reference/robo/2008 db/reference/robo/robo2008.html#MorinS08 Minh-Duc Hua Pascal Morin Claude Samson Balanced-force-control of underactuated thrust-propelled vehicles. 6435-6441 2007 CDC https://doi.org/10.1109/CDC.2007.4434268 conf/cdc/2007 db/conf/cdc/cdc2007.html#HuaMS07

Matthieu Fruchard Pascal Morin Claude Samson A Framework for the Control of Nonholonomic Mobile Manipulators. 745-780 2006 25 Int. J. Robotics Res. 8 https://doi.org/10.1177/0278364906068374 db/journals/ijrr/ijrr25.html#FruchardMS06

Pascal Morin Claude Samson Control with transverse functions and a single generator of underactuated mechanical systems. 6110-6115 2006 CDC https://doi.org/10.1109/CDC.2006.377277 conf/cdc/2006 db/conf/cdc/cdc2006.html#MorinS06 Mauro Maya-Méndez Pascal Morin Claude Samson Control of a Nonholonomic Mobile Robot Via Sensor-based Target Tracking and Pose Estimation. 5612-5618 2006 IROS https://doi.org/10.1109/IROS.2006.282282 conf/iros/2006 db/conf/iros/iros2006.html#Maya-MendezMS06 Pascal Morin Claude Samson Control of underactuated mechanical systems by the transverse function approach. 7508-7513 2005 CDC/ECC https://doi.org/10.1109/CDC.2005.1583373 conf/cdc/2005 db/conf/cdc/cdc2005.html#MorinS05

Pascal Morin Claude Samson Practical and Asymptotic Stabilization of Chained Systems by the Transverse Function Control Approach. 32-57 2004 43 SIAM J. Control. Optim. 1 https://doi.org/10.1137/S0363012903421868 db/journals/siamco/siamco43.html#MorinS04

Pascal Morin Claude Samson Trajectory tracking for non-holonomic vehicles: overview and case study. 139-153 2004 RoMoCo https://doi.org/10.1109/ROMOCO.2004.240574 conf/romoco/2004 db/conf/romoco/romoco2004.html#MorinS04

Pascal Morin Claude Samson Practical stabilization of driftless systems on Lie groups: the transverse function approach. 1496-1508 2003 48 IEEE Trans. Autom. Control. 9 https://doi.org/10.1109/TAC.2003.816963 https://www.wikidata.org/entity/Q115264871 db/journals/tac/tac48.html#MorinS03

Pascal Morin Claude Samson Practical and asymptotic stabilization of the 3-d chained system by the transverse function approach. 4700-4704 2003 CDC https://doi.org/10.1109/CDC.2003.1272316 conf/cdc/2003 db/conf/cdc/cdc2003.html#MorinS03 Pascal Morin Claude Samson Field-oriented control of induction motors by application of the transverse function control approach. 5921-5925 2003 CDC https://doi.org/10.1109/CDC.2003.1271952 conf/cdc/2003 db/conf/cdc/cdc2003.html#MorinS03a

Pascal Morin Claude Samson A Characterization of the Lie Algebra Rank Condition by Transverse Periodic Functions. 1227-1249 2002 40 SIAM J. Control. Optim. 4 https://doi.org/10.1137/S0363012900366054 https://www.wikidata.org/entity/Q115246815 db/journals/siamco/siamco40.html#MorinS02

Pascal Morin Claude Samson Practical stabilization of driftless systems on Lie groups. 4272-4277 2002 CDC https://doi.org/10.1109/CDC.2002.1185042 conf/cdc/2002 db/conf/cdc/cdc2002.html#MorinS02 Pascal Morin Claude Samson Practical stabilization of driftless homogeneous systems based on the use of transverse periodic functions. 1761-1766 2001 CDC https://doi.org/10.1109/.2001.981157 conf/cdc/2001 db/conf/cdc/cdc2001.html#MorinS01

Pascal Morin Claude Samson Control of nonlinear chained systems: from the Routh-Hurwitz stability criterion to time-varying exponential stabilizers. 141-146 2000 45 IEEE Trans. Autom. Control. 1 https://doi.org/10.1109/9.827372 db/journals/tac/tac45.html#MorinS00

Pascal Morin Claude Samson Robust stabilization of driftless systems with hybrid open-loop/feedback control. 3929-3933 2000 ACC https://doi.org/10.1109/ACC.2000.876959 conf/amcc/2000 db/conf/amcc/acc2000.html#MorinS00 Pascal Morin Claude Samson Practical stabilization of a class of nonlinear systems. Application to chain systems and mobile robots. 2989-2994 2000 CDC https://doi.org/10.1109/CDC.2000.914274 conf/cdc/2000 db/conf/cdc/cdc2000.html#MorinS00 Pascal Morin Claude Samson A characterization of the Lie algebra rank condition by transverse periodic functions. 3988-3993 2000 CDC https://doi.org/10.1109/CDC.2000.912338 conf/cdc/2000 db/conf/cdc/cdc2000.html#MorinS00a

Pascal Morin Jean-Baptiste Pomet Claude Samson Design of Homogeneous Time-Varying Stabilizing Control Laws for Driftless Controllable Systems Via Oscillatory Approximation of Lie Brackets in Closed Loop. 22-49 1999 38 SIAM J. Control. Optim. 1 https://doi.org/10.1137/S0363012997315427 db/journals/siamco/siamco38.html#MorinPS99

Charles François Claude Samson A New Approach to the Control of the Planar One-Legged Hopper. 1150-1166 1998 17 Int. J. Robotics Res. 11 https://doi.org/10.1177/027836499801701102 db/journals/ijrr/ijrr17.html#FrancoisS98

Pascal Morin Claude Samson Application of Backstepping Techniques to the Time-Varying Exponential Stabilisation of Chained Form Systems. 15-36 1997 3 Eur. J. Control 1 https://doi.org/10.1016/S0947-3580(97)70059-1 db/journals/ejcon/ejcon3.html#MorinS97

Pascal Morin Claude Samson Time-varying exponential stabilization of a rigid spacecraft with two control torques. 528-534 1997 42 IEEE Trans. Autom. Control. 4 https://doi.org/10.1109/9.566663 db/journals/tac/tac42.html#MorinS97

Dimitris P. Tsakiris Patrick Rives Claude Samson Extending visual servoing techniques to nonholonomic mobile robots. 106-117 1997 Block Island Workshop on Vision and Control https://doi.org/10.1007/bfb0109666 conf/block/1997 db/conf/block/block1997.html#TsakirisRS97

Claude Samson Control of chained systems application to path following and time-varying point-stabilization of mobile robots. 64-77 1995 40 IEEE Trans. Autom. Control. 1 https://doi.org/10.1109/9.362899 db/journals/tac/tac40.html#Samson95

Claude Samson Time-varying Feedback Stabilization of Car-like Wheeled Mobile Robots. 55-64 1993 12 Int. J. Robotics Res. 1 https://doi.org/10.1177/027836499301200104 db/journals/ijrr/ijrr12.html#Samson93

Sylvie Icart Juliette Leblond Claude Samson Stabilizing law for a flexible arm in torsion. 794-799 1992 ICRA https://doi.org/10.1109/ROBOT.1992.220272 https://doi.ieeecomputersociety.org/10.1109/ROBOT.1992.220272 conf/icra/1992 db/conf/icra/icra1992.html#IcartLS92 Claude Samson Michel LeBorgne Bernard Espiau Robot control - the task function approach. I-XVIII, 1-364 Clarendon Press 1991 Oxford engineering science series 22 978-0-19-853805-9 Claude Samson Karim Ait-Abderrahim Feedback control of a nonholonomic wheeled cart in Cartesian space. 1136-1141 1991 ICRA https://doi.org/10.1109/ROBOT.1991.131748 https://doi.ieeecomputersociety.org/10.1109/ROBOT.1991.131748 conf/icra/1991 db/conf/icra/icra1991.html#SamsonA91 Claude Samson Karim Ait-Abderrahim Feedback stabilization of a nonholonomic wheeled mobile robot. 1242-1247 1991 IROS https://doi.org/10.1109/IROS.1991.174670 conf/iros/1991 db/conf/iros/iros1991.html#SamsonA91

Claude Samson Stability analysis of adaptively controlled systems subject to bounded disturbances. 81-86 1983 19 Autom. 1 https://doi.org/10.1016/0005-1098(83)90077-8 db/journals/automatica/automatica19.html#Samson83

Claude Samson V. Umapathi Reddy Fixed point error analysis of the normalized ladder algorithm. 1752-1755 1982 ICASSP https://doi.org/10.1109/ICASSP.1982.1171689 conf/icassp/1982 db/conf/icassp/icassp1982.html#SamsonR82 Karim Ait-Abderrahim André Anglade Tarek Bouazza Florent Le Bras Bernard Espiau Charles François Matthieu Fruchard Pieter van Goor Tarek Hamel Minh-Duc Hua Sylvie Icart Masato Ishikawa Jean-Marie Kai Juliette Leblond Michel LeBorgne Roland Lenain Robert E. Mahony Ninad Manerikar Simone De Marco Mauro Eduardo MayaMauro Maya-Méndez Pascal Morin Tomas Lopes de Oliveira Jean-Baptiste Pomet Daniele Pucci V. Umapathi Reddy Patrick Rives Dimitris P. Tsakiris