Damien Lhomme-Desages

CEA Paris-Saclay - Etablissement de Fontenay-aux-roses, Sorbonne Université, Institut Systèmes Intelligents et de Robotique

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About

Damien Lhomme-Desages is a robotics researcher specializing in the challenging domain of high-speed autonomous navigation over natural, deformable terrains. His primary research focuses on trajectory control for four-wheel skid-steering vehicles, addressing the critical problem of maintaining stability and precision when robots traverse soft soils, such as sand or agricultural land. Lhomme-Desages’s major contribution is the development of a model-based control strategy that explicitly incorporates physical interaction models to account for slip and skid effects—phenomena often ignored in simpler controllers. This approach allows fast-moving rovers to follow desired paths more accurately, extending their operational mobility on planar granular soils. His most cited work, "Trajectory Control of a Four-Wheel Skid-Steering Vehicle over Soft Terrain using a Physical Interaction Model" (2007), has garnered 31 citations, serving as a foundational reference for researchers in planetary exploration and field robotics. By independently actuating each wheel with electric motors, his method enables precise control even at high speeds, addressing a key challenge for applications ranging from terrestrial exploration to agriculture. Lhomme-Desages’s work bridges the gap between theoretical control models and real-world off-road conditions, making him a notable figure in the advancement of robust, high-speed mobile robotics.