Papers
7
Total Citations
51
H-Index
4
About
Guillaume Graton is a robotics researcher whose work sits at the intersection of fault diagnosis, health monitoring, and autonomous mobile robot systems. His research has made meaningful contributions to the field of Fault Detection and Isolation (FDI), with a particular focus on wheeled mobile robots — both unicycle platforms and the more complex four-mecanum wheeled mobile robot (4-MWMR) architectures commonly deployed in industrial settings. Graton's most influential work, cited 17 times, introduced a hybrid model-based and hardware redundancy approach to detecting and isolating sensor and actuator faults in unicycle mobile robots, addressing subtle but critical failures such as wheel drift. Building on this foundation, he extended FDI methodologies to 4-MWMR systems, tackling the particularly challenging problem of distinguishing between wheel sensor and actuator faults — a distinction with significant practical consequences for robot reliability and safety. Beyond fault diagnosis, Graton has contributed to fault accommodation and trajectory reconfiguration strategies, enabling robots to adapt dynamically to unexpected obstacles and minimize operational delays in industrial environments. His application of unknown input observers and linear parameter varying (LPV) systems further demonstrates his command of advanced control-theoretic tools. With a growing citation record across multiple venues, Graton represents an emerging voice in robust, dependable mobile robotics research.
Research Focus
Key Achievements
Top Papers
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- 3Mobile Robot Additive Fault Diagnosis and Accommodation8 citations · 2019
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