Publications

Baptiste Pollien, Christophe Garion, Gautier Hattenberger, Pierre Roux, Xavier Thirioux (2023). A Verified UAV Flight Plan Generator. 2023 IEEE/ACM 11th International Conference on Formal Methods in Software Engineering (FormaliSE).

Nicolas Maury, Grégory Roberts, Fleur Couvreux, Titouan Verdu, Pierre Narvor, Simon Lacroix, Gautier Hattenberger (2023). Quantifying the mixing of trade-wind cumulus during the NEPHELAE-EUREC4A field campaign with remotely piloted aircraft. Quarterly Journal of the Royal Meteorological Society.

Murat Bronz, Nikola Gavrilovic, Gautier Hattenberger, Jean-Marc Moschetta (2023). Simultaneous Wind Field Measurements with Doppler Lidar, Quadrotor and Fixed-Wing UAV. AIAA SCITECH 2023 Forum.

Gautier Hattenberger, Murat Bronz, Jean-Philippe Condomines (2023). Evaluation of drag coefficient for a quadrotor model. International Journal of Micro Air Vehicles.

Florian Sansou, Fabrice Demourant, Gautier Hattenberger, Thomas Loquen, Luca Zaccarian (2022). Open wind tunnel experiments of the DarkO tail-sitter longitudinal stabilization with constant wind. Automatic control in aerospace.

Soulimane Kamni, Yassine Ouhammou, Emmanuel Grolleau, Antoine Bertout, Gautier Hattenberger (2022). A Reverse Design Framework for~Modifiable-off-the-Shelf Embedded Systems: Application to~Open-Source Autopilots. 11th International Conference on Model and Data Engineering (MEDI 2022).

Gautier Hattenberger, Fabien Bonneval, Matheus Ladeira, Emmanuel Grolleau, Yassine Ouhammou (2022). Micro-drone autopilot architecture for efficient static scheduling. 13th International Micro Air Vehicle Conference.

Gautier Hattenberger, Murat Bronz, Jean-Philippe Condomines (2022). Evaluation of drag coefficient for a quadrotor model. 13th International Micro Air Vehicle Conference.

Matheus Ladeira, Emmanuel Grolleau, Fabien Bonneval, Gautier Hattenberger, Yassine Ouhammou, Yuri Hérouard (2022). Scheduling Offset-Free Systems Under FIFO Priority Protocol. 34th Euromicro Conference on Real-Time Systems (ECRTS 2022).

Matthieu Verdoucq, Guy Theraulaz, Ramon Escobedo, Clément Sire, Gautier Hattenberger (2022). Bio-inspired control for collective motion in swarms of drones. International Conference on Unmanned Aircraft Systems (ICUAS 2022).

Matthieu Verdoucq, Guy Theraulaz, Ramon Escobedo, Clément Sire, Gautier Hattenberger (2022). Bio-inspired control for collective motion in swarms of drones. 2022 International Conference on Unmanned Aircraft Systems (ICUAS).

Christophe Garion, Gautier Hattenberger, Baptiste Pollien, Pierre Roux, Xavier Thirioux (2022). Formal Verification for Autopilot - Preliminary state of the art.

Christophe Garion, Gautier Hattenberger, Baptiste Pollien, Pierre Roux, Xavier Thirioux (2022). A gentle introduction to C code verification using the Frama-C platform.

Nicolas Maury, Grégory Roberts, Fleur Couvreux, Titouan Verdu, Pierre Narvor, Najda Villefranque, Simon Lacroix, Gautier Hattenberger (2022). Use of Large-Eddy simulations to design an adaptive sampling strategy to assess cumulus cloud heterogeneities by Remotely Piloted Aircraft. Atmospheric Measurement Techniques.

Gautier Hattenberger, Titouan Verdu, Nicolas Maury, Pierre Narvor, Fleur Couvreux, Murat Bronz, Simon Lacroix, Grégoire Cayez, Gregory C Roberts (2022). Field report: Deployment of a fleet of drones for cloud exploration. International Journal of Micro Air Vehicles.

Gautier Hattenberger, Murat Bronz, Jean-Philippe Condomines (2022). Estimating wind using a quadrotor. International Journal of Micro Air Vehicles.

Hector Garcia de Marina, Murat Bronz, Gautier Hattenberger (2021). Guiding vector fields in Paparazzi autopilot. 12th international micro air vehicle conference (IMAV2021).

Gautier Hattenberger, Titouan Verdu, Nicolas Maury, Pierre Narvor, Fleur Couvreux, Murat Bronz, Simon Lacroix, Gregory C Roberts, Grégoire Cayez (2021). Field report: deployment of a fleet of drones for cloud exploration. 12th International Micro Air Vehicle Conference and Competition.

Gautier Hattenberger, Murat Bronz, Jean-Philippe Condomines (2021). Estimating wind using a quadrotor. international micro air vehicle conference (IMAV2021).

Simon Lacroix, Gautier Hattenberger, Greg Roberts (2021). Flottes de drones pour l'observation de phénomènes atmosphériques. Journées Drones & Capteurs embarqués 2021.

Baptiste Pollien, Christophe Garion, Gautier Hattenberger, Pierre Roux, Xavier Thirioux (2021). Verifying the Mathematical Library of an UAV Autopilot with Frama-C. 26th International Conference on Formal Methods for Industrial Critical Systems - FMICS 2021.

Murat Bronz, Nikola Gavrilovic, Antoine Drouin, Gautier Hattenberger, Jean-Marc Moschetta (2021). Flight Testing of Dynamic Soaring Part-2 : Open-Field Inclined Circle Trajectory. AIAA AVIATION 2021 FORUM.

Nicolas Maury, Grégory Roberts, Fleur Couvreux, Titouan Verdu, Pierre Narvor, Florian Seguin, Simon Lacroix, Gautier Hattenberger, Grégoire Cayez (2021). Study of thermodynamic properties of trade-wind cumulus clouds with Remotely Piloted Aircrafts during the EUREC4A field campaign. EGU General Assembly.

Murat Bronz, Gavrilovic Nikola, Antoine Drouin, Gautier Hattenberger, Jean-Marc Moschetta (2021). Flight Testing of Dynamic Soaring Part-1 : Leeward Inclined Circle Trajectory. AIAA Scitech 2021 Forum (Session: Subscale Flight Testing and Parameter Identification).

Nicolas Maury, Greg Roberts, Fleur Couvreux, Pierre Narvor, Titouan Verdu, Grégoire Cayez, Gautier Hattenberger, Simon Lacroix, Florian Seguin (2020). Study of thermodynamic properties of cumulus clouds: from strategy design in numerical simulation to application during a measurement campaign. AGU Fall Meeting.

Titouan Verdu, Nicolas Maury, Pierre Narvor, Florian Seguin, Grégory Roberts, Fleur Couvreux, Grégoire Cayez, Murat Bronz, Gautier Hattenberger, Simon Lacroix (2020). Experimental flights of adaptive patterns for cloud exploration with UAVs. IROS 2020, IEEE/RSJ International Conference on Intelligent Robots and System.

Jacson Miguel Olszanecki Barth, Jean-Philippe Condomines, Murat Bronz, Gautier Hattenberger, Jean-Marc Moschetta, Cédric Join, Michel Fliess (2020). Towards a unified model-free control architecture for tailsitter micro air vehicles: Flight simulation analysis and experimental flights. AIAA Scitech 2020 Forum.

Jim Sharples, Gautier Hattenberger (2019). UAS Education at the French Civil Aviation University. RED-UAS 2019, International Workshop on Research, Education and Development on Unmanned Aerial Systems.

Aurélien Cabarbaye, Titouan Verdu, Fabien Garcia, Michel Gorraz, Alexandre Bustico, Murat Bronz, Gautier Hattenberger (2019). Design of a high performance MAV for atmospheric research. IMAV 2019, 11th International Micro Air Vehicle Competition and Conference.

Titouan Verdu, Gautier Hattenberger, Simon Lacroix (2019). Flight patterns for clouds exploration with a fleet of UAVs. ICUAS 2019, 2019 International Conference on Unmanned Aircraft Systems.

Jérémie Garcia, Anke Brock, Nicolas Saporito, Gautier Hattenberger, Xavier Paris, Michel Gorraz, Yannick Jestin (2019). Designing human-drone interactions with the Paparazzi UAV System. 1st International Workshop on Human-Drone Interaction- CHI'19.

Gautier Hattenberger (2018). Precision Landing for Fixed-wing UAV using Ultra-Wide-Band Ranging. IMAV 2018, International Micro Air Vehicles, Conferences and Competitions.

Aurélien Cabarbaye, Titouan Verdu, Jacson Miguel Olszanecki Barth, Gautier Hattenberger (2018). Accurate control law for low-cost UAV. IMAV 2018, 10th international micro air vehicle competition and conference.

Jean-Marc Moschetta, Gautier Hattenberger, Henry de Plinval, Thierry Jardin (2018). Editorial IJMAV: Special issue IMAV 2017. International Journal of Micro Air Vehicles.

Jean-Philippe Condomines, Cédric Seren, Gautier Hattenberger (2017). The Invariant Unscented Kalman Filter. CDC 2017, 56th IEEE Conference on Decision and Control.

Jean-Philippe Condomines, Cédric Seren, Gautier Hattenberger (2017). Invariant Unscented Kalman Filter with application to attitude estimation. CDC 2017, 56th IEEE conference on decision and control.

Hector Garcia de Marina, Gautier Hattenberger (2017). Distributed circular formation flight of fixed-wing aircraft with Paparazzi autopilot. IMAV 2017, International Micro Air Vehicle Conference and Competition.

Hector Garcia de Marina, Zhiyong Sun, Murat Bronz, Gautier Hattenberger (2017). Circular formation control of fixed-wing UAVs with constant speeds. IROS 2017, EEE/RSJ International Conference on Intelligent Robots and Systems.

Murat Bronz, , Ewoud J Smeur, Hector Garcia de Marina, Gautier Hattenberger (2017). Development of A Fixed-Wing mini UAV with Transitioning Flight Capability. *35th AIAA Applied Aerodynamics Conference *.

Rafael Bailon-Ruiz, Christophe Reymann, Simon Lacroix, Gautier Hattenberger, Hector Garcia de Marina, Fayçal Lamraoui (2017). System simulation of a fleet of drones to probe cumulus clouds. International Conference on Unmanned Aircraft Systems (ICUAS).

Hector Garcia de Marina, Yuri A Kapitanyuk, Murat Bronz, Gautier Hattenberger, Ming Cao (2017). Guidance algorithm for smooth trajectory tracking of a fixed wing UAV flying in wind flows. ICRA 2017, IEEE International Conference on Robotics and Automation ,.

Murat Bronz, Hector Garcia de Marina, Gautier Hattenberger (2017). In-Flight Thrust Measurement using On-Board Force Sensor. AIAA SciTech Forum 2017, AIAA Atmospheric Flight Mechanics Conference.

Gautier Hattenberger, Antoine Drouin, Murat Bronz (2016). Electric Propulsion System Characterization through Experiments. *IMAV 2016, International Micro Air Vehicle Conference and Competition *.

Jean-Philippe Condomines, Cédric Seren, Gautier Hattenberger (2016). Optimal Invariant Observers Theory for Nonlinear State Estimation. *Multisensor Attitude EstimationFundamental Concepts and ApplicationsEdited by Fourati Hassen Belkhiat Djamel Eddine Chouaib Iniewski Krzysztof *.

Murat Bronz, Gautier Hattenberger (2016). Aerodynamic Characterization of an Off-the-Shelf Aircraft via Flight Test and Numerical Simulation. AIAA Flight Testing Conference 2016.

Simon Lacroix, Greg Roberts, Emmanuel Benard, Murat Bronz, Frédéric Burnet, Bouhoubeiny Elkhedim, Jean-Philippe Condomines, Doll Carsten, Gautier Hattenberger, Lamraoui Fayçal, Alessandro Renzaglia, Christophe Reymann (2016). Fleets of enduring drones to probe atmospheric phenomena with clouds. ISARRA 2016 , 4th Conference of the International Society for Atmospheric Research using Remotely-piloted Aircraft.

Gautier Hattenberger, Jean-Philippe Condomines, Murat Bronz (2016). Experimental Wind-Field Estimation. ISARRA , 4th Conference of the International Society for Atmospheric Research using Remotely-piloted Aircraft.

Greg Roberts, Radiance Calmer, Kevin Sanchez, Grégoire Cayez, Kerianne Nicoll, Eyal Hashimshoni, Daniel Rosenfeld, Albert Ansmann, Jean Sciare, Jurgita Ovadneite, Murat Bronz, Gautier Hattenberger, Jana Preissler, Johannes Buehl, Darius Ceburnis, Colin O'dowd (2016). multi-dimensional Cloud-aERosol Exploratory Study using RPAS (mCERES): Bottom-up and top-down closure of aerosol-cloud interactions. EGU 2016, European Geosciences Union General Assembly 2016.

Jean-Philippe Condomines, Murat Bronz, Gautier Hattenberger, Jean-François Erdelyi (2015). Experimental Wind Field Estimation and Aircraft Identification. IMAV 2015: International Micro Air Vehicles Conference and Flight Competition.

Murat Bronz, Gautier Hattenberger (2015). Design of A High-Performance Tailless MAV Through Planform Optimization. 3rd AIAA Applied Aerodynamics Conference.

Murat Bronz, Gautier Hattenberger (2015). Recent advances in paparazzi system for meteorological research at ENAC. ISARRA 2015, 2015 Meeting of the International Society of Atmospheric Research using Remotely piloted Aircraft.

Greg Roberts, Grégoire Cayez, Catherine Ronflé-Nadaud, Marius Albrand, Jean-Philippe Dralet, Géraud Momboisse, Franck C.G.A Nicolleau, Yann Seity, Murat Bronz, Gautier Hattenberger, Michel Gorraz, Alexandre Bustico (2014). Using Remotely Piloted Aircraft System to Study the Evolution of the Boundary Layer Related to Fog Events. AGU 2014 Fall meeting.

Jean-Philippe Condomines, Cédric Seren, Gautier Hattenberger (2014). Pi-Invariant Unscented Kalman Filter for Sensor Fusion. CDC 2014, 53rd IEEE Conference on Decision and Control.

Alexandre Ravet, Simon Lacroix, Gautier Hattenberger (2014). Augmenting Bayes filters with the Relevance Vector Machine for time-varying context-dependent observation distribution. IROS 2014, IEEE/RSJ International Conference on Intelligent Robots and Systems.

Gautier Hattenberger, Murat Bronz, Michel Gorraz (2014). Using the Paparazzi UAV System for Scientific Research. IMAV 2014, International Micro Air Vehicle Conference and Competition 2014.

Emmanuel Colles, Fabien Nollet, Bertrand Vandeportaele, Gautier Hattenberger (2014). Autonomous Aerial Mapping and Observation Task for IMAV2014 Competition. IMAV 2014, International Micro Air Vehicle Conference and Competition 2014.

Grégoire Cayez, Jean-Philippe Dralet, Yann Seity, Géraud Momboisse, Gautier Hattenberger, Murat Bronz, Greg Roberts (2014). Using Remotely Piloted Aircraft System to study the evolution of the boundary layer related to fog events. ISARRA 2014, 2nd Conference of the International Society for Atmospheric Research using Remotely piloted Aircraft.

Murat Bronz, Gautier Hattenberger, Greg Roberts, Grégoire Cayez (2014). Development of a High-Performance Compact RPA dedicated to Atmospheric Research. ISARRA 2014, International Society of Atmospheric Research using Remotely-piloted Aircraft.

Grégoire Cayez, Jean-Philippe Dralet, Yann Seity, Géraud Momboisse, Gautier Hattenberger, Murat Bronz, Greg Roberts (2014). Observations and modelling of the boundary layer using remotely piloted aircraft. EGU 2014, European Geosciences Union General Assembly.

Murat Bronz, Gautier Hattenberger, Jean-Marc Moschetta (2013). Development of a Long Endurance Mini-UAV : ETERNITY. International Journal of Micro Air Vehicles.

Alexandre Ravet, Simon Lacroix, Gautier Hattenberger, Bertrand Vandeportaele (2013). Learning to combine multi-sensor information for context dependent state estimation. IROS 2013, IEEE/RSJ International Conference on Intelligent Robots and Systems.

Gautier Hattenberger, Grégoire Cayez, Greg Roberts (2013). Flight tests for meteorological studies with MAV. IMAV 2013, International Micro Air Vehicle Conference and Flight Competition.

Murat Bronz, Jean-Philippe Condomines, Gautier Hattenberger (2013). Development of an 18cm Micro Air Vehicle : QUARK. IMAV 2013, International Micro Air Vehicle Conference and Flight Competition.

Murat Bronz, Gautier Hattenberger, Jean-Marc Moschetta (2013). Development of a Long Endurance Mini-UAV : ETERNITY. IMAV 2013, International Micro Air Vehicle Conference and Flight Competition.

Jean-Philippe Condomines, Cédric Seren, Gautier Hattenberger (2013). Nonlinear state estimation using an invariant unscented Kalman filter. AIAA GNC 2013, AIAA Guidance, Navigation and Control Conference.

Tan-Viet-Anh Truong, Gautier Hattenberger, Catherine Ronflé-Nadaud (2013). The cooperation between Unmanned Aerial Vehicles using a mission planner. INDIN 2013, 11th IEEE International Conference on Industrial Informatics.

Alexandre Ravet, Simon Lacroix, Gautier Hattenberger (2013). Learning to combine multi-sensor information for context dependent state estimation. CAP 2013, Conférence Francophone sur l’Apprentissage Automatique.

Murat Bronz, Jean-Marc Moschetta, Gautier Hattenberger (2012). Multi-Point Optimisation of a Propulsion Set as Applied to a Multi-Tasking MAV. IMAV 2012, International Micro Aerial Vehicle Conference and Competition.

Alexandre Ravet, Bertrand Vandeportaele, Gautier Hattenberger, Simon Lacroix (2012). Autonomous navigation of a UAV based on multimodal integration. IMAV 2012, International Micro Air Vehicule Conference and Flight Competition.

Stéphanie Mayer, Gautier Hattenberger, Pascal Brisset, Marius Jonassen, Joachim Reuder (2012). A 'ŉo-flow-sensor'' wind estimation algorithm for unmanned aerial systems. International Journal of Micro Air Vehicles.

Christophe Morlaas, Alexandre Chabory, Bernard Souny, Gautier Hattenberger (2011). Compact helical ring antenna for iridium communication on UAV. ETTC 2011, European Test and Telemetry Conference.

Aaron Montoya, Bertrand Vandeportaele, Simon Lacroix, Gautier Hattenberger (2010). Flight autonomy of micro-drone in indoor environments using LiDAR flash camera. IMAV 2010, International Micro Air Vehicle Conference and Flight Competition.

Pascal Brisset, Gautier Hattenberger (2008). Multi-UAV control with the Paparazzi system. HUMOUS 2008, Conference on Humans Operating Unmanned Systems.

Gautier Hattenberger, Simon Lacroix, Rachid Alami (2007). Formation Flight: Evaluation of autonomous configuration control algorithms. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Simon Lacroix, Rachid Alami, Thomas Lemaire, Gautier Hattenberger, Jérémi Gancet (2007). Decision making in multi-UAVs systems: Architecture and Algorithms. In: Ollero A., Maza I. (eds) Multiple Heterogeneous Unmanned Aerial Vehicles..

Gautier Hattenberger, Rachid Alami, Simon Lacroix (2007). Autonomous configuration control for UAV formation flight in hostile environments. IFAC Proceedings Volumes.

Gautier Hattenberger, Rachid Alami, Simon Lacroix (2006). Planning and control for Unmanned Air Vehicle formation flight. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Jérémi Gancet, Gautier Hattenberger, Rachid Alami, Simon Lacroix (2005). Task planning and control for a multi-UAV system: architecture and algorithms. EEE/RSJ International Conference on Intelligent Robots and Systems (IROS).