EXPLORE: Robotique mobile pour l'exploration de l'environnement
The EXPLORE team conducts research on exploratory robotics in underwater, aerial, and terrestrial environments. Special care is taken to ensure that the developed and/or controlled robotic systems achieve energetic and decisional autonomy. The team members come from complementary robotics research areas, from software architecture analysis and design to navigation, guidance and control design, as well as dependability, locomotion theory, and multi-modal data fusion. Collectively, they aim to develop reliable mobile robotic systems capable of carrying out complex and useful missions, and are met with the challenge presented by the intuitive trade-off between system reliability and mission complexity.

Projects
- REEA : Robotique d'exploration de l'environnement aquatique
- R.Hex : Robot Hexapode pour l'intervention en milieu naturel fragile
Members
Staff
- Didier Crestani, Professor UM
- Sébastien Druon, Assistant Professor UM
- Karen Godary-Dejean, Assistant Professor UM
- Lionel Lapierre, Assistant Professor UM
- Jean Triboulet, Assistant Professor UFRNimes
- René Zapata, Professor UM
Associates & Students
- Yohan Breux, Research associate UM
- Tho Dang Huu, PhD student UM
- Adrien Hereau, PhD student UM
- Philippe Lambert, PhD student UM
- Quentin Massone, PhD student CNRS
- Rodolfo Villalobos Martinez, PhD student Financeur étranger
- Nasir Abubakar Yakub, PhD student Campus France
Research topics
- Contrôle
- Architecture logicielle
- Sûreté de fonctionnement et garantie de performance
- Représentation de la connaissance
Platforms
- Robotique sous-marine
- Robotique terrestre
- Robotique aérienne
- Architecture logicielle
Publications 2014 - 2019: Evaluation period
International Journals
2020
- Multimodal Object-Based Environment Representation for Assistive RoboticsYohan Breux, Sébastien DruonInternational Journal of Social Robotics, Springer, 2020, 12 (3), pp.807-826.
- Elevation Angle Estimations of Wide-Beam Acoustic Sonar Measurements for Autonomous Underwater Karst ExplorationYohan Breux, Lionel LapierreSensors, MDPI, 2020, 20 (14), pp.4028.
2018
- Robust Magnetic Tracking of Subsea Cable by AUV in the Presence of Sensor Noise and Ocean CurrentsCaoyang Yu, Xianbo Xiang, Lionel Lapierre, Qin ZhangIEEE Journal of Oceanic Engineering, Institute of Electrical and Electronics Engineers, 2018, 43 (2), pp.311-322.
- Redundant actuation system of an underwater vehicleBenoît Ropars, Lionel Lapierre, Adrien Lasbouygues, David Andreu, René ZapataOcean Engineering, Elsevier, 2018, 151, pp.276-289.
- Survey on Fuzzy-Logic-Based Guidance and Control of Marine Surface Vehicles and Underwater VehiclesXianbo Xiang, Caoyang Yu, Lionel Lapierre, Jialei Zhang, Qin ZhangInternational Journal of Fuzzy Systems, Taiwan Fuzzy Systems Association, 2018, 20 (2), pp.572-586.
2017
- Nonlinear guidance and fuzzy control for three-dimensional path following of an underactuated autonomous underwater vehicleCaoyang Yu, Xianbo Xiang, Lionel Lapierre, Qin ZhangOcean Engineering, Elsevier, 2017, 146, pp.457-467.
- Precision spraying: from map to sprayer control using model-checkingRim Saddem-Yagoubi, Olivier Naud, Paul Cazenave, Karen Godary-Dejean, Didier CrestaniJournal of Agricultural Informatics, Hungarian Association of Agricultural Informatics, 2017, 8 (3), pp.1-10.
- An Ultrasound Look at Korotkoff sounds: the role of pulse wave velocity and flow turbulenceAmir Benmira, Antonia Perez-Martin, Iris Schuster, Florent Veye, Jean Triboulet, Nicolas Berron, Isabelle Aichoun, Sarah Coudray, Jérémy Laurent, Fethi Bereksi-Reguig, Michel DauzatBlood Pressure Monitoring, Lippincott, Williams & Wilkins, 2017, 22 (2), pp.86-94.
2016
- Real-time estimation of FES-induced joint torque with evoked EMGZhan Li, David Guiraud, David Andreu, Mourad Benoussaad, Charles Fattal, Mitsuhiro HayashibeApplication to spinal cord injured patients. Journal of NeuroEngineering and Rehabilitation, BioMed Central, 2016, 13 (1), pp.60-71.
- Hardware Implementation and Validation of 3D Underwater Shape Reconstruction Algorithm Using a Stereo-Catadioptric SystemRihab Hmida, Abdessalem Abdelali, Frédéric Comby, Lionel Lapierre, Abdellatif Mtibaa, René ZapataApplied Sciences, MDPI, 2016, 6 (9), pp.247-272.
2015
- Hybrid underwater robotic vehicles: the state-of-the-art and future trendsXianbo Xiang, Zemin Niu, Lionel Lapierre, Mingjiu ZuoHKIE Transactions, Taylor & Francis, 2015, 22 (2), pp.103-116.
- Enhancing Fault Tolerance of Autonomous Mobile RobotsDidier Crestani, Karen Godary-Dejean, Lionel LapierreRobotics and Autonomous Systems, Elsevier, 2015, 68, pp.140-155.
- Classification of two-degree-of-freedom underactuated mechanical systemsDivine Maalouf, Claude H. Moog, Yannick Aoustin, Shunjie LiIET Control Theory and Applications, Institution of Engineering and Technology, 2015, 9 (10), pp.1501-1510.
- Towards an affordable mobile analysis platform for pathological walking assessmentVincent Bonnet, Christine Azevedo Coste, Lionel Lapierre, Jennifer Cadic, Philippe Fraisse, René Zapata, Gentiane Venture, Christian GenyRobotics and Autonomous Systems, Elsevier, 2015, 66, pp.116-128.
- Smooth transition of AUV motion control: From fully-actuated to under-actuated configurationXianbo Xiang, Lionel Lapierre, Bruno JouvencelRobotics and Autonomous Systems, Elsevier, 2015, Advances in Autonomous Underwater Robotics, 67, pp.14-22.
2014
- fMRI-Based Robotic Embodiment: Controlling a Humanoid Robot by Thought Using Real-Time fMRIOri Cohen, Sébastien Druon, Sebastien Lengagne, Avi Mendelsohn, Rafael Malach, Abderrahmane KheddarPresence: Teleoperators and Virtual Environments, Massachusetts Institute of Technology Press (MIT Press), 2014, 23 (3), pp.229-241.
- Validation of lower limb segmental volumetry with hand-held, self-positioning three-dimensional laser scanner against water displacementSandrine Mestre, Florent Veye, Antonia Perez-Martin, Thomas Behar, Jean Triboulet, Nicolas Berron, Christophe Demattei, Isabelle QuéréJournal of Vascular Surgery: Venous and Lymphatic Disorders, Elsevier Inc., 2014, pp.1.
International Communications
2020
- Testing an Underwater Robot Executing Transect Missions in MayotteAdrien Hereau, Karen Godary-Dejean, Jérémie Guiochet, Clément Robert, Thomas Claverie, Didier Crestani21st Towards Autonomous Robotic Systems Conference (TAROS), Sep 2020, Virtual, United Kingdom. <https://www.nottingham.ac.uk/conference/fac-eng/taros/>
2019
- An approach for Fault Tolerant and Performance Guarantee Autonomous Robotic MissionPhilippe Lambert, Lionel Lapierre, Didier CrestaniAHS: Adaptive Hardware and Systems, Jul 2019, Colchester, United Kingdom. pp.87-94.
- Configuration Matrix Design of Over-Actuated Marine SystemsHuu-Tho Dang, Lionel Lapierre, René Zapata, Pascal Lepinay, Benoît RoparsOCEANS, Jun 2019, Marseille, France. <https://www.oceans19mtsieeemarseille.org>
2018
- From Perception to Semantics: An Environment Representation Model Based on Human-Robot InteractionsYohan Breux, Sébastien Druon, René ZapataRO-MAN: Robot and Human Interactive Communication, Aug 2018, Nanjing, China. pp.672-677.
- New Approach for Differential Harvest Problem: The model checking wayRim Saddem-Yagoubi, Olivier Naud, Karen Godary-Dejean, Didier Crestani14th IFAC Workshop on Discrete Event Systems (WODES), May 2018, Sorrento Coast, Italy. pp.57-63.
2017
- Formal Method for Mission Controller Generation of a Mobile RobotSilvain Louis, Karen Godary-Dejean, Lionel Lapierre, Thomas Claverie, Sébastien VillégerTAROS: Towards Autonomous Robotic Systems, Jul 2017, University of Surrey, Guildford, United Kingdom. pp.586-600.
- Decomposing the model-checking of mobile robotics actions on a gridRim Saddem-Yagoubi, Olivier Naud, Karen Godary-Dejean, Didier Crestani20th IFAC World Congress, Jul 2017, Toulouse, France. pp.11156-11162.
- Robotic mapping of a karst aquiferAdrien Lasbouygues, Silvain Louis, Benoît Ropars, Luc Rossi, Herve Jourde, Hélène Délas, Pierre Balordi, Rémi Bouchard, Mehdi Dighouth, Marc Dugrenot, Eric Jacquemin, Frank Vasseur, Lionel Lapierre, David AndreuIFAC: International Federation of Automatic Control, Jul 2017, Toulouse, France. <https://www.ifac2017.org>
- Precision spraying: from map to control using model-checkingRim Saddem-Yagoubi, Olivier Naud, Paul Cazenave, Karen Godary-Dejean, Didier Crestani2017 EFITA WCCA CONGRESS, Jul 2017, Montpellier, France. <http://www.efita2017.org/>
- 3D underwater reconstruction of archeology object with a mono camera camcorder: The case study at Gourneyras lakeYadpiroon Onmek, Jean Triboulet, Sébastien Druon, Arnaud Meline, Silvain Louis, Bruno JouvencelOCEANS, Jun 2017, Aberdeen, United Kingdom. pp.1-6.
- Quaternion based control for robotic observation of marine diversitySilvain Louis, Lionel Lapierre, Karen Godary-Dejean, Yadpiroon Onmek, Thomas Claverie, Sebastien VillégerOCEANS, Jun 2017, Aberdeen, United Kingdom. <10.1109/OCEANSE.2017.8085006>
- Evaluation of underwater 3D reconstruction methods for Archaeological Objects: Case study of Anchor at Mediterranean SeaYadpiroon Onmek, Jean Triboulet, Sébastien Druon, Arnaud Meline, Bruno JouvencelICCAR: International Conference on Control, Automation and Robotics, Apr 2017, Nagoya, Japan. pp.394-398.
2016
- Fault Tolerant Autonomous Robots Using Mission Performance Guided Resources AllocationLotfi Jaïem, Lionel Lapierre, Karen Godary-Dejean, Didier CrestaniSysTol: Control and Fault-Tolerant Systems, Sep 2016, Barcelona, Spain. <http://systol16.cs2ac.upc.edu/>
- Toward Performance Guarantee for Autonomous Mobile Robotic Mission: An Approach for Hardware and Software Resources ManagementLotfi Jaïem, Lionel Lapierre, Karen Godary-Dejean, Didier CrestaniTAROS: Towards Autonomous Robotic Systems, Jun 2016, Sheffield, United Kingdom. pp.189-195.
- A Step Toward Mobile Robots Autonomy: Energy Estimation ModelsLotfi Jaïem, Sébastien Druon, Lionel Lapierre, Didier CrestaniTAROS: Towards Autonomous Robotic Systems, Jun 2016, Sheffield, United Kingdom. pp.177-188.
2015
- Atoms based control of mobile robots with Hardware-In-the-Loop validationAdrien Lasbouygues, Benoît Ropars, Robin Passama, David Andreu, Lionel LapierreIROS: Intelligent Robots and Systems, Sep 2015, Hamburg, Germany. pp.1083-1090.
- Towards An Architecture-Centric Approach to Manage Variability of Cloud RoboticsLei Zhang, Huaxi (yulin) Zhang, Zheng Fang, Xianbo Xiang, Marianne Huchard, René ZapataDSLRob: Domain-Specific Languages and models for ROBotic systems, Sep 2015, Hamburg, Germany. <http://www.doesnotunderstand.org/public/DSLRob2015>
- Thruster's dead-zones compensation for the actuation system of an underwater vehicleBenoît Ropars, Adrien Lasbouygues, Lionel Lapierre, David AndreuECC: European Control Conference, Jul 2015, Linz, Austria. pp.741-746.
2014
- Automatic Handling of Conflicts in Synchronous Interpreted Time Petri Nets ImplementationHélène Leroux, Karen Godary-Dejean, Guillaume Coppey, David AndreuISVLSI: IEEE Computer Society Annual Symposium on VLSI, Jul 2014, Tampa, Florida, United States.
- Stable and Reactive Centering in Conduits for Karstic ExplorationAdrien Lasbouygues, Lionel Lapierre, David Andreu, Josue Lopez Hermoso, Hervé Jourde, Benoît RoparsECC: European Control Conference, Jun 2014, Strasbourg, France. pp.2986-2991.
- A Collision Avoidance Algorithm Based on the Virtual Target Approach for Cooperative Unmanned Surface VehiclesMarco Bibuli, Gabriele Bruzzone, Massimo Caccia, Lionel Lapierre, Enrica ZereikMED: Mediterranean Conference on Control and Automation, Jun 2014, Palermo, Italy. pp.746-751.
- Possibility of non-invasive blood pressure estimation by measurements of force and arteries diameterFlorent Veye, Sandrine Mestre, Antonia Perez-Martin, Jean TribouletBHI: Biomedical and Health Informatics, Jun 2014, Valencia, Spain. <http://bhi.embs.org/2014/>
- Integrating Implementation Properties in Analysis of Petri Nets Handling ExceptionsHélène Leroux, Karen Godary-Dejean, David Andreu12th IFAC International Workshop on Discrete Event Systems (WODES), May 2014, Paris, France. pp.406-411.
- Evaluation of lower limb vein biomechanical properties and the effects of compression stockings, with an instrumented ultrasound probeFlorent Veye, Sandrine Mestre, Nicolas Berron, Antonia Perez-Martin, Jean TribouletEMBC: Engineering in Medicine and Biology Conference, 2014, Chicago, United States. pp.74-77.
Last update on 09/01/2019
Fiche-équipe EXPLORE
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