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EXPLORE: Robotique mobile pour l'exploration de l'environnement

Créée courant 2012 à la suite de mouvements internes au sein du Département Robotique (modification des contours de l’ex-équipe NERO), l’équipe-projet EXPLORE développe sa recherche en robotique mobile pour les milieux terrestres, marins et aériens.
Notre centre d’intérêt est la conception et le développement des outils théoriques et expérimentaux de la robotique mobile pour l’exploration intégrée de l’environnement. Les thèmes abordés sont le contrôle du mouvement, la perception, la localisation, la cartographie centrés sur des modèles perception/action issus des métiers de l’environnement.  Notre démarche s’appuie sur la complémentarité de ces travaux pour proposer des solutions originales et les implémenter sur nos robots à travers une architecture de contrôle/commande structurée, tolérante aux fautes, offrant différents niveaux d’autonomi et/ou à garantie de performances.

Thématiques scientifiques de l'équipe Explore

Projets

  •  REEA : Robotique d'exploration de l'environnement aquatique
  •  R.Hex : Robot Hexapode pour l'intervention en milieu naturel fragile

Members

Permanents

No permanents

Thématiques de Recherche

  • Contrôle
  • Architecture logicielle
  • Sûreté de fonctionnement et garantie de performance
  • Représentation de la connaissance

Plateformes

  • Robotique sous-marine
  • Robotique terrestre
  • Robotique aérienne
  • Architecture logicielle

Publications depuis 2013 - Evaluation 2019

Articles de revues internationales

2017

  1. An Ultrasound Look at Korotkoff sounds: the role of pulse wave velocity and flow turbulence
    Amir Benmira, Antonia Perez-Martin, Iris Schuster, Florent Veye, Jean Triboulet, Nicolas Berron, Isabelle Aichoun, Sarah Coudray, Jérémy Laurent, Fethi Bereksi-Reguig, Michel Dauzat
    Blood Pressure Monitoring, Lippincott, Williams & Wilkins, 2017, 22 (2), pp.86-94.

2016

  1. Real-time estimation of FES-induced joint torque with evoked EMG
    Zhan Li, David Guiraud, David Andreu, Mourad Benoussaad, Charles Fattal, Mitsuhiro Hayashibe
    Application to spinal cord injured patients. Journal of NeuroEngineering and Rehabilitation, BioMed Central, 2016, 13 (1), pp.60-71.
  2. Hardware Implementation and Validation of 3D Underwater Shape Reconstruction Algorithm Using a Stereo-Catadioptric System
    Rihab Hmida, Abdessalem Abdelali, Frédéric Comby, Lionel Lapierre, Abdellatif Mtibaa, René Zapata
    Applied Sciences (Bucureş.., Balcan Society of Geometers, 2016, 6 (9), pp.247-272.

2015

  1. Handling Exceptions in Petri Net-Based Digital Architecture: From Formalism to Implementation on FPGAs
    Hélène Leroux, David Andreu, Karen Godary-Dejean
    IEEE Transactions on Industrial Informatics, Institute of Electrical and Electronics Engineers, 2015, 11 (4), pp.897-906.
  2. Enhancing Fault Tolerance of Autonomous Mobile Robots
    Didier Crestani, Karen Godary-Dejean, Lionel Lapierre
    Robotics and Autonomous Systems, Elsevier, 2015, 68, pp.140-155.
  3. Towards an affordable mobile analysis platform for pathological walking assessment
    Vincent Bonnet, Christine Azevedo Coste, Lionel Lapierre, Jennifer Cadic, Philippe Fraisse, René Zapata, Gentiane Venture, Christian Geny
    Robotics and Autonomous Systems, Elsevier, 2015, 66, pp.116-128.
  4. Smooth transition of AUV motion control: From fully-actuated to under-actuated configuration
    Xianbo Xiang, Lionel Lapierre, Bruno Jouvencel
    Robotics and Autonomous Systems, Elsevier, 2015, Advances in Autonomous Underwater Robotics, 67, pp.14-22.

2014

  1. fMRI-Based Robotic Embodiment: Controlling a Humanoid Robot by Thought Using Real-Time fMRI
    Ori Cohen, Sébastien Druon, Sebastien Lengagne, Avi Mendelsohn
    Presence: Teleoperators and Virtual Environments, Massachusetts Institute of Technology Press (MIT Press), 2014, 23 (3), pp.229-241.

2013

  1. Validation of lower limb segmental volumetry with hand-held, self-positioning three-dimensional laser scanner against water displacement
    Sandrine Mestre, Florent Veye, Antonia Perez-Martin, Thomas Behar, Jean Triboulet, Nicolas Berron, Christophe Demattei, Isabelle Quéré
    Journal of Vascular Surgery, Elsevier, 2013, pp.1.
  2. How to Localize Humanoids with a Single Camera?
    Alcantarilla Pablo, Olivier Stasse, Sébastien Druon, Bergasa Luis M., Frank Dellaert
    Autonomous Robots, Springer Verlag, 2013, 34 (1-2), pp.47-71.
  3. Formal Validation of a Deterministic MAC Protocol
    Karen Godary-Dejean, David Andreu
    ACM Transactions on Embedded Computing Systems (TECS), ACM, 2013, 12 (1), pp.N/A.

Communications internationales

2017

  1. Formal Method for Mission Controller Generation of a Mobile Robot
    Silvain Louis, Karen Godary-Dejean, Lionel Lapierre, Thomas Claverie, Sébastien Villéger
    SpringerLink. TAROS: Towards Autonomous Robotic Systems, Jul 2017, University of Surrey, Guildford, United Kingdom. SpringerLink, 18th Towards Autonomous Robotic Systems (TAROS) Conference, LNCS (10454), pp.586-600, 2017, Towards Autonomous Robotic Systems.
  2. Decomposing the model-checking of mobile robotics actions on a grid
    Rim Saddem, Olivier Naud, Karen Godary-Dejean, Didier Crestani
    20th World Congress of the International Federation of Automatic Control (IFAC 2017 WC), Jul 2017, Toulouse, France. 2017.
  3. Precision spraying: from map to control using model-checking
    Rim Saddem, Olivier Naud, Paul Cazenave, Karen Godary-Dejean, Didier Crestani
    EFITA WCCA CONGRESS, Jul 2017, Montpellier, France. 11th European conference dedicated to the future use of ICT in the agri-food sector, bioresource and biomass sector 2017. <http://www.efita2017.org/>
  4. Evaluation of 3D reconstruction methods for archaeological objects in underwater conditions
    Yadpiroon Onmek, Jean Triboulet, Sébastien Druon, Silvain Louis, Arnuad Meline, Bruno Jouvencel
    MTS IEEE OCEANS' 2017, Jun 2017, Aberdeen, Scotland, United Kingdom. 2017. <http://www.oceans17mtsieeeaberdeen.org>
  5. Quaternion based control for robotic observation of marine diversity
    Silvain Louis, Lionel Lapierre, Karen Godary-Dejean, Yadpiroon Onmek, Thomas Claverie, Sebastien Villéger
    OCEANS, Jun 2017, Aberdeen, United Kingdom. MTS/IEEE OCEANS'17, 2017, A vision for our marine future. <http://www.oceans17mtsieeeaberdeen.org/>
  6. Evaluation of underwater 3D reconstruction methods for Archaeological Objects: Case study of Anchor at Mediterranean Sea
    Yadpiroon Onmek, Jean Triboulet, Sébastien Druon, Arnuad Meline, Bruno Jouvencel
    ICCAR: International Conference on Control, Automation and Robotics, Apr 2017, Nagoya, Japan. 3rd International Conference on Control, Automation and Robotics (ICCAR), 2017, pp.394-398, 2017.

2016

  1. Fault Tolerant Autonomous Robots Using Mission Performance Guided Resources Allocation
    Lotfi Jaiem, Lionel Lapierre, Karen Godary-Dejean, Didier Crestani
    SysTol: Control and Fault-Tolerant Systems, Sep 2016, Barcelona, Spain. 2016, 3rd Conference on Control and Fault-Tolerant Systems. <http://systol16.cs2ac.upc.edu/>

2015

  1. Atoms based control of mobile robots with Hardware-In-the-Loop validation
    Adrien Lasbouygues, Benoit Ropars, Robin Passama, David Andreu, Lionel Lapierre
    IROS: Intelligent Robots and Systems, Sep 2015, Hamburg, Germany. IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1083-1090 2015.
  2. Towards An Architecture-Centric Approach to Manage Variability of Cloud Robotics
    Lei Zhang, Huaxi (yulin) Zhang, Zheng Fang, Xianbo Xiang, Marianne Huchard, René Zapata
    6th International Workshop on Domain-Speci c Languages and models for ROBotic systems (DSLROB2015), Sep 2015, Hamburg, Germany. 2015.
  3. Thruster's dead-zones compensation for the actuation system of an underwater vehicle
    Benoit Ropars, Adrien Lasbouygues, Lionel Lapierre, David Andreu
    ECC: European Control Conference, Jul 2015, Linz, Austria. 2015. <10.1109/ECC.2015.7330631>

2014

  1. Genetic fuzzy stereo matching with new encoding scheme
    Haythem Ghazouani
    META: Metaheuristics and Nature Inspired Computing, Oct 2014, Marrakech, Morocco. 5th International Conference on Metaheuristics and Nature Inspired Computing, pp.22-23, 2014.
  2. Stable and Reactive Centering in Conduits for Karstic Exploration
    Adrien Lasbouygues, Lionel Lapierre, David Andreu, Josue Lopez Hermoso, Hervé Jourde, Benoit Ropars
    ECC: European Control Conference, Jun 2014, Strasbourg, France. 13th, pp.2986-2991, 2014.
  3. Possibility of non-invasive blood pressure estimation by measurements of force and arteries diameter
    Florent Veye, Sandrine Mestre, Antonia Perez-Martin, Jean Triboulet
    BHI: Biomedical and Health Informatics, Jun 2014, Valencia, Spain. 2014. <http://bhi.embs.org/2014/>
  4. Integrating Implementation Properties in Analysis of Petri Nets Handling Exceptions
    Hélène Leroux, Karen Godary-Dejean, David Andreu
    WODES: Workshop on Discrete Event Systems, May 2014, Cachan, France. 12th IFAC IEEE International Workshop on Discrete Event Systems, pp.1-6, 2014.
  5. Evaluation of lower limb vein biomechanical properties and the effects of compression stockings, with an instrumented ultrasound probe
    Florent Veye, Sandrine Mestre, Nicolas Berron, Antonia Perez-Martin, Jean Triboulet
    EMBC: Engineering in Medicine and Biology Conference, 2014, Chicago, United States. 36th International Conference of the IEEE Engineering in Medicine and Biology Society, pp.74-77, 2014.

2013

  1. Stability Analysis of a New Extended L1 Controller with Experimental Validation on an Underwater Vehicle
    Divine Maalouf, Ahmed Chemori, Vincent Creuze
    CDC: Conference on Decision and Control, Dec 2013, Florence, Italy. 52nd IEEE Conference on Decision and Control, 2013. <http://cdc2013.units.it/>
  2. Complex Digital System Design: a methodology and its application to medical implants
    Hélène Leroux, Karen Godary-Dejean, David Andreu
    FMICS: Formal Methods for Industrial Critical Systems, Sep 2013, Madrid, Spain. 18th International Workshop on Formal Methods for Industrial Critical Systems (FMICS'13), 2013. <http://lvl.info.ucl.ac.be/Fmics2013>
  3. A new extension of the L1 adaptive controller to drastically reduce the tracking time lags
    Divine Maalouf, Ahmed Chemori, Vincent Creuze
    NOLCOS: Nonlinear Control Systems, Sep 2013, Toulouse, France. 9th IFAC Symposium on Nonlinear Control Systems, pp.001-006, 2013.
  4. From PD to Nonlinear Adaptive Depth-Control of a Tethered Autonomous Underwater Vehicle
    Divine Maalouf, Ivan Tamanaja, Eduardo Campos, Ahmed Chemori, Vincent Creuze, Jorje Torres, Lozano Rogelio
    IFAC Joint conference, SSSC: Symposium on System Structure and Control, Feb 2013, Grenoble, France. Symposium on System Structure and Control (5th), 2013, IFAC Joint conference 2013, 5th Symposium on System Structure and Control. <http://www.gipsa-lab.fr/SSSC2013/>

Tags

Exploration intégrée de l’environnement

Last update on 27/06/2018