Publications scientifiques

Liste des publications et communication


GUILLET, A., LENAIN, R., THUILOT, B., ROUSSEAU, V. – 2017. Formation control of agricultural mobile robots: A bidirectional weighted constraints approach. Journal of Field Robotics, vol. 34, n° 7, p. 1260 – 1274 [ ]

This paper focuses on the formation control of several mobile robots in off-road conditions. A control strategy based on bidirectional referencing is proposed, where each robot combines a velocity controlw.r.t. the immediate preceding neighbor with a control w.r.t. the immediate following neighbor. Two virtual leaders, respectively, at the head and at the tail of the fleet, are propelling the fleet at the desired velocity. The fleet stability is investigated using Lyapunov techniques, pending on combination coefficients. The stability is theoretically proven for constant coefficients as weights of the respective velocity controls and tested through simulations and full-scale experiments. It is shown that this control strategy permits us to reduce the error propagation problem often encountered in formation control, while limiting the communication problems of the global strategies. As a result, a stable formation control architecture is defined, which requires each vehicle to be refereed only to two other robots. This limited communication need is particularly interesting for agricultural operations. The proposed approach is implemented in this paper on agricultural tractors.


LENAIN, R., DEREMETZ, M., BRACONNIER, J. B., THUILOT, B., ROUSSEAU, V. – 2017. Robust sideslip angles observer for accurate off-road path tracking control. Advanced Robotics, vol. 31, n° 9, p. 453 – 467 [ ]

This paper proposes a control strategy to achieve high accurate path tracking in off-road conditions. The approach is based on adaptive and predictive techniques to account for sliding effects and actuator properties. An extended kinematic model is designed using sideslip angles definition. An observer is proposed to estimate online these variables, independently from the reference path and robot velocity. Thanks to the proposed approach, high accurate path tracking can then be achieved whatever the shape of the reference path and the task to be achieved (practical stabilization or moving object tracking).


SADDEM, R., NAUD, O., CAZENAVE, P., GODARY-DEJEAN, K., & CRESTANI, D. (2017). Precision spraying: from map to sprayer control using model-checking. Journal of Agricultural Informatics, 8(3), 1-10.



Véronique Bellon-Maurel, Jean-Marc Bournigal, Roland Lenain,  L’équation technologique et numérique en agriculture. Le déméter, IRIS édition, février 2019, pp125-131

Roland Lenain, La robotique agricole : une (r)évolution ?, Editions Techniques de l’Ingénieur.I.  no ref. article : s7786



Roland Lenain, Robotics in agriculture, a new vision, Keynote speaker, International Workshop on Image Analysis Methods for the Plant Sciences

Roland Lenain, Reconfigurable mobile robots for environment and agriculture. Keynote speaker, IEEE ETCM 2017, 20/10/2017, Salinas, Ecuador

Roland Lenain, Robots in outdoor environment : Control and Safety. Inauguration of Raytheon chair for systems engineering. 11/04/2017, King Saud University, Saudi Arabia

Roland Lenain, Robotique pour l’environnement et l’agriculture, l’approche multimodale du projet Adap2E, Journées Nationales de la Recherche en Robotique, 8-10/11/2017, Biarritz, France



Lenain, R., Nizard, A., Deremetz, M., Thuilot, B., Papot, V., & Cariou, C. (2018, July). Path Tracking of a Bi-steerable Mobile Robot: An Adaptive Off-road Multi-control Law Strategy. In 15th International Conference on Informatics in Control, Automation and Robotics. SCITEPRESS-Science and Technology Publications.

Tourrette, T.,  Deremetz, M., Naud, O., Lenain, R., Laneurit, J., De Rudnicky, V., Close coordination of mobile robots using radio beacons: A new concept aimed at smart spraying in agriculture, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 7727-7734

Deremetz, M.; Lenain, R.; Thuilot, B. & Rousseau, V.,  Adaptive trajectory control of off-road mobile robots: A multi-model observer approach. Robotics and Automation (ICRA), 2017 IEEE International Conference on, 2017, 4407-4413

Rim Saddem Yagoubi, Olivier Naud, Karen Godary Dejean, Didier Crestani, New Approach for Differential Harvest Problem: The model checking way. IFAC-PapersOnLine 51 (7), 57-63

Thibault Tourrette, Olivier Naud, Roland Lenain, Jean Laneurit, Vincent de Rudnicki, Cooperative mobile robots in agriculture : A new concept aimed at smart spraying, 2nd rendez-vous techniques de l’Axema, 02/03/2018, Beauvais, France

Benet, R. Lenain and V. Rousseau, Development of a sensor fusion method for crop row tracking operations, 11th European Conference on Precision Agriculture (ECPA 2017), John McIntyre Centre, Edinburgh, UK, July 16–20 2017), Precision Agriculture,  Volume 8, Issue 2

DEREMETZ, M., LENAIN, R., THUILOT, B., ROUSSEAU, V. – 2017. Adaptive trajectory control of off-road mobile robots: A multi-model observer approach. IEEE Robotics Conference on Robotics and Automation (ICRA), 29/05/2017 – 03/06/2017, Singapor, SGP. p. 4407 – 4413 [ ]

DEREMETZ, M., LENAIN, R., THUILOT, B. – 2017. Stiffness and damping real-time control algorithms for adjustable suspensions: A strategy to reduce dynamical effects on vehicles in off-road conditions. IFAC-PapersOnLine, vol. 50, n° 1, p. 1958 – 1964 [ ]

Saddem, R., Naud, O., Dejean, K. G., & Crestani, D. (2017). Decomposing the model-checking of mobile robotics actions on a grid. IFAC-PapersOnLine, 50(1), 11156-11162.

Saddem, R., Naud, O., Cazenave, P., Dejean, K. G., & Crestani, D. Precision spraying: from map to control using model-checking. In 2017 EFITA WCCA CONGRESS (p. 47).

DEREMETZ, M., LENAIN, R., COUVENT, A., CARIOU, C., THUILOT, B. – 2017. Path tracking of a four-wheel steering mobile robot: A robust off-road parallel steering strategy. ECMR The European Conference on Mobile Robotics, 06/09/2017 – 08/09/2017, Paris, FRA. [ ]

Benet, B.; Lenain, R., Multi-sensor fusion method for crop row tracking and traversability operations. 1st AXEMA-EurAgEng Conference » Intensive and environmentally friendly agriculture: an opportunity for innovation in machinery and systems », Paris, France, 25 February 2017, 2017, 44-53

Jean-Baptiste Braconnier, Roland Lenain, Benoit Thuilot, High speed path tracking application in harsh conditions: Predictive speed control to ensure the limit of the lateral deviation. EEE/RSJ International conference on intelligent robots and systems, IROS2016

Ange Nizard, Benoit Thuilot, Roland Lenain, Nonlinear Path Tracking Controller for Bi-Steerable Vehicles in Cluttered Environments, IAV 2016, 9th IFAC Symposium on Intelligent Autonomous Vehicles

Benet, B.; Rousseau, V. & Lenain, R., Fusion between a color camera and a TOF camera to improve traversability of agricultural vehicles.  CIGR-AGENG 2016. The 6th International Workshop Applications of Computer Image Analysis and Spectroscopy in Agriculture, 2016, 8-p