Within the topic of control&computing co-design, I was involved in Safe-NECS, an ANR funded collaborative project dealing with the coordinated design of safe distributed control systems, in which a testbed will be a quadrirotor aerial drone developed at GIPSA-lab. Another project was ARAVIS where control loops are deeply integrated in high density silicon chips, and the integration of control capabilities both in operating systems and web services was the topic of a cooperation with the SARDES team.
For a long time my favorite application field has been Underwater Robotics which led to several collaborative projects with the Robotics Service (PRAO) at Ifremer: within this application field the CONNECT project (funded by the ANR) focused on the control of multi-agent systems gathering underwater, surface and aerial autonomous vehicles. I was also involved in the IST FP7 project FeedNetBack, in particular I was the coordinator of the "Control and Computing Co-design" workpackage with the Control Departments of University of Sevilla and of ETH in Zurich. I currently have a collaboration with the SubseaTech company in Marseille about the optimization and control co-design of a small inspection ROV.
With the DEMAR team, I was involved in the Sensas/Sensbio ADT project, where I am investigating attitude reconstruction from IMU sensors over wireless links. I am also working on flexible and controlled schedulers for distributed Functional Electrical Stimulation. I also developed a software framework for the realistic simulation of FES based distributed system. Such hybrid simulation software consistently gathers bio-mechanical components (such as muscles and bones) together with the numerical control architecture (CPUs and links). It is intended to ease the design, tuning and validation of feedback control loops involving disabled, as in the AGILIS project to be started in 2019.
and a few talks
Maxence Blond, 2016 -, CIFRE grant with Subseatech, "Modeling and Control for a Remotely Operated Vehicle co-advised with V. Creuze and A. Chemori (Lirmm).
Abir Ben Khaled , 2011-2014, IFPEN grant, “Distributed real-time simulation of numerical models: application to power-train", co-advised with M. Ben Gaid (IFPEN).
Patrick-Jocelyn Andrianiaina, 2010-2012 CIFRE/AIRBUS grant, “Robust control under slackened real-time constraints”, co-advised with A. Seuret (CNRS).
Emilie Roche , 2008-2011 “Commande à échantillonnage variable pour les systèmes LPV : application à un sous-marin autonome (Variable sampling control for LPV systems : application to AUV)”, INPG, Grenoble,co-advised with O. Sename (Gipsa-lab/INPG).
Sylvain Durand , 2007-2011 “Reduction of the Energy Consumption in Embedded Electronic Devices withLowControl Computational Cost”, INPG, Grenoble, co-advised with N. Marchand (Gipsa-lab/CNRS).
David Robert , 2003-2007 “Contribution à l’interaction commande/ordonnancement (control and scheduling interaction)”,INPG, Grenoble, co-advised with O. Sename (Gipsa-lab/INPG).
Aristide Santos : 1992-1995 “Contribution à la conception des sous-marins autonomes : architecture des actionneurs,architecture des capteurs d’altitude et commandes référencées capteurs (design of autonomous underwatervehicles: co-design of the sensors, actuators and control architectures)”, École des Mines de Paris, Décembre1995, co-advised with C. Samson (INRIA).
Eduardo Castillo , 1991-1994 “Principes, techniques et outils de simulation, vérification et exécution d’actionsrobotiques (principles, methods and tools for simulation, verification and execution of robots control actions)”,INPG Grenoble, Novembre 1994, co-advised with C. Samson (INRIA).
Marcelo Mejia , 1986-1989 “Contribution à la conception d’un réseau local temps réel pour la robotique (designof a real-time field-bus for robotics)”, Université de Rennes I/IFSIC, co-advised by B. Espiau.
Marie-Claude Séguillon , 1986-1989 “Conception et implantation de la commande d’un robot hydraulique. In-tégration dans un système multirobots multicapteurs (design and implementation of a controller for an hydraulically actuated robot)”, Université de Rennes I, co-advised with B. Espiau).