Nicolas Boizot — accepted AI-conference papers

2024

An Augmented Catenary Model for Underwater Tethered Robots

Martin Filliung, Juliette Drupt, Charly Peraud, Claire Dune, Nicolas Boizot, Andrew Comport +2

ICRA 2024poster

This paper examines the relevance of using catenary-based curves to model cables in underwater tethered robotic applications in order to take into account the influence of hydrodynamic damping. To this end, an augmented catenary-based model is introduced to deal with the dynamical effects of surge m…

Cited by 3 Source ↗Scholar ↗

2024

IMU-based Monitoring of Buoy-Ballast System through Cable Dynamics Simulation

Charly Peraud, Martin Filliung, Cédric Anthierens, Claire Dune, Nicolas Boizot, Vincent Hugel

IROS 2024poster

This study is twofold. First, a comprehensive simulation framework of cable dynamics is introduced. This framework considers variable length cables and allows to incorporate elements such as buoys, ballast or Inertial Measurement Unit (IMU) sensors. The accuracy of this framework is assessed through…

Cited by 1 Source ↗Scholar ↗