Publications

Automatic

On Multi-Robot Path Planning based on Petri Net Models and LTL Specifications

This paper proposes a method exploiting the advantages of Petri net (PN) and B¨uchi automata models, by joining them in a newly defined Composed Petri net representation. Based on the latter model, collision-free trajectories are computed for a team…

Sofia Hustiu, Cristian Mahulea, Marius Kloetzer, Jean-Jacques J Lesage

IEEE Transactions on Automatic Control - 2024

Engineering Sciences

An algebraic control method to guarantee generalized marking constraints for partially observable timed event graphs.

Jihene Rajah, Saïd Amari, Maher Barkallah, Mohamed Haddar

Discrete Event Dynamic Systems - 2024

Engineering Sciences

Algebraic control strategy for solving the mutual exclusion constraint problem in a network of timed event graphs with disturbance inputs: Application to an assembly process.

Syrine Bouazza, Saïd Amari, Hichem Hassine

International Journal of Control, Automation and Systems - 2024

Engineering Sciences

A Finite-Horizon Inverse Differential Game Approach for Optimal Trajectory-Tracking Assistance with a Wrist Exoskeleton

Exoskeletons are appealing robotic devices to physically assist humans in various motor tasks. To provide a part of the effort required for performing a task, they should be intuitive to use and adapt to the user's goal. Differential game theory…

Abdelwaheb Hafs, Dorian Verdel, Etienne Burdet, Olivier Bruneau, Bastien Berret

Neuroscience

EMG-to-torque models for exoskeleton assistance: a framework for the evaluation of in situ calibration

In the field of robotic exoskeleton control, it is critical to accurately predict the intention of the user. While surface electromyography (EMG) holds the potential for such precision, current limitations arise from the absence of robust EMG-to…

Lucas Quesada, Dorian Verdel, Olivier Bruneau, Bastien Berret, Michel-Ange Amorim, Nicolas Vignais

Engineering Sciences

Control laws synthesis to satisfy generalized mutual exclusion constraints for timed event graphs networks using Min-Plus algebra

Jihene Rajah, Said Amari, Maher Barkallah, Mohamed Haddar

Information Sciences - 2024

Engineering Sciences

Control of a class of discrete event systems with disturbances and capacity constraints: Application to a disassembly problem

Abstract This study proposes an analytical control method for the meeting of capacity constraints in discrete event systems with disturbances. More precisely, it consists of computing control laws for partially controllable and observable timed…

Bouazza Syrine, Amari Said, Hassine Hichem

Asian Journal of Control - 2024

Robotics

Contrôle des processus de désassemblage à l'aide des formalismes des systèmes à évènements discrets

Disassembly process control involves the methods and techniques used to safely and efficiently disassemble mechanical components or complex assemblies. To do this, control approaches are developed to satisfy the constraints imposed on these systems…

Syrine Bouazza

Physics

Description et Analyse de Performances des Réseaux de Petri Colorés Temporisés à l'aide du Dioïde des Séries Formelles Colorées.

Louis Bal Dit Sollier, Alain Ourghanlian, Saïd Amari

Modélisation des Systèmes Réactifs (MSR'23) - 2023

Physics

Identification de système à un automate hybride - revue des travaux récents

Yan Monier, Bruno Denis, Gregory Faraut, Nabil Anwer

Modélisation des Systèmes Réactifs (MSR'23) - 2023