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.

Thématiques scientifiques de l'équipe Explore


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



Associates & Students

Research topics

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


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

Publications 2014 - 2019: Evaluation period

International Journals


  1. Multimodal Object-Based Environment Representation for Assistive Robotics
    Yohan Breux, Sébastien Druon
    International Journal of Social Robotics, Springer, 2020, 12 (3), pp.807-826.
  2. Elevation Angle Estimations of Wide-Beam Acoustic Sonar Measurements for Autonomous Underwater Karst Exploration
    Yohan Breux, Lionel Lapierre
    Sensors, MDPI, 2020, 20 (14), pp.4028.


  1. Robust Magnetic Tracking of Subsea Cable by AUV in the Presence of Sensor Noise and Ocean Currents
    Caoyang Yu, Xianbo Xiang, Lionel Lapierre, Qin Zhang
    IEEE Journal of Oceanic Engineering, Institute of Electrical and Electronics Engineers, 2018, 43 (2), pp.311-322.
  2. Redundant actuation system of an underwater vehicle
    Benoît Ropars, Lionel Lapierre, Adrien Lasbouygues, David Andreu, René Zapata
    Ocean Engineering, Elsevier, 2018, 151, pp.276-289.
  3. Survey on Fuzzy-Logic-Based Guidance and Control of Marine Surface Vehicles and Underwater Vehicles
    Xianbo Xiang, Caoyang Yu, Lionel Lapierre, Jialei Zhang, Qin Zhang
    International Journal of Fuzzy Systems, Taiwan Fuzzy Systems Association, 2018, 20 (2), pp.572-586.


  1. Nonlinear guidance and fuzzy control for three-dimensional path following of an underactuated autonomous underwater vehicle
    Caoyang Yu, Xianbo Xiang, Lionel Lapierre, Qin Zhang
    Ocean Engineering, Elsevier, 2017, 146, pp.457-467.
  2. Precision spraying: from map to sprayer control using model-checking
    Rim Saddem-Yagoubi, Olivier Naud, Paul Cazenave, Karen Godary-Dejean, Didier Crestani
    Journal of Agricultural Informatics, Hungarian Association of Agricultural Informatics, 2017, 8 (3), pp.1-10.
  3. 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.


  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, MDPI, 2016, 6 (9), pp.247-272.


  1. Hybrid underwater robotic vehicles: the state-of-the-art and future trends
    Xianbo Xiang, Zemin Niu, Lionel Lapierre, Mingjiu Zuo
    HKIE Transactions, Taylor & Francis, 2015, 22 (2), pp.103-116.
  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. Classification of two-degree-of-freedom underactuated mechanical systems
    Divine Maalouf, Claude H. Moog, Yannick Aoustin, Shunjie Li
    IET Control Theory and Applications, Institution of Engineering and Technology, 2015, 9 (10), pp.1501-1510.
  4. 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.
  5. 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.


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

International Communications


  1. Testing an Underwater Robot Executing Transect Missions in Mayotte
    Adrien Hereau, Karen Godary-Dejean, Jérémie Guiochet, Clément Robert, Thomas Claverie, Didier Crestani
    21st Towards Autonomous Robotic Systems Conference (TAROS), Sep 2020, Virtual, United Kingdom. <https://www.nottingham.ac.uk/conference/fac-eng/taros/>


  1. An approach for Fault Tolerant and Performance Guarantee Autonomous Robotic Mission
    Philippe Lambert, Lionel Lapierre, Didier Crestani
    AHS: Adaptive Hardware and Systems, Jul 2019, Colchester, United Kingdom. pp.87-94.
  2. Configuration Matrix Design of Over-Actuated Marine Systems
    Huu-Tho Dang, Lionel Lapierre, René Zapata, Pascal Lepinay, Benoît Ropars
    OCEANS, Jun 2019, Marseille, France. <https://www.oceans19mtsieeemarseille.org>


  1. From Perception to Semantics: An Environment Representation Model Based on Human-Robot Interactions
    Yohan Breux, Sébastien Druon, René Zapata
    RO-MAN: Robot and Human Interactive Communication, Aug 2018, Nanjing, China. pp.672-677.
  2. New Approach for Differential Harvest Problem: The model checking way
    Rim Saddem-Yagoubi, Olivier Naud, Karen Godary-Dejean, Didier Crestani
    14th IFAC Workshop on Discrete Event Systems (WODES), May 2018, Sorrento Coast, Italy. pp.57-63.


  1. Formal Method for Mission Controller Generation of a Mobile Robot
    Silvain Louis, Karen Godary-Dejean, Lionel Lapierre, Thomas Claverie, Sébastien Villéger
    TAROS: Towards Autonomous Robotic Systems, Jul 2017, University of Surrey, Guildford, United Kingdom. pp.586-600.
  2. Decomposing the model-checking of mobile robotics actions on a grid
    Rim Saddem-Yagoubi, Olivier Naud, Karen Godary-Dejean, Didier Crestani
    20th IFAC World Congress, Jul 2017, Toulouse, France. pp.11156-11162.
  3. Robotic mapping of a karst aquifer
    Adrien 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 Andreu
    IFAC: International Federation of Automatic Control, Jul 2017, Toulouse, France. <https://www.ifac2017.org>
  4. Precision spraying: from map to control using model-checking
    Rim Saddem-Yagoubi, Olivier Naud, Paul Cazenave, Karen Godary-Dejean, Didier Crestani
    2017 EFITA WCCA CONGRESS, Jul 2017, Montpellier, France. <http://www.efita2017.org/>
  5. 3D underwater reconstruction of archeology object with a mono camera camcorder: The case study at Gourneyras lake
    Yadpiroon Onmek, Jean Triboulet, Sébastien Druon, Arnaud Meline, Silvain Louis, Bruno Jouvencel
    OCEANS, Jun 2017, Aberdeen, United Kingdom. pp.1-6.
  6. 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. <10.1109/OCEANSE.2017.8085006>
  7. Evaluation of underwater 3D reconstruction methods for Archaeological Objects: Case study of Anchor at Mediterranean Sea
    Yadpiroon Onmek, Jean Triboulet, Sébastien Druon, Arnaud Meline, Bruno Jouvencel
    ICCAR: International Conference on Control, Automation and Robotics, Apr 2017, Nagoya, Japan. pp.394-398.


  1. Fault Tolerant Autonomous Robots Using Mission Performance Guided Resources Allocation
    Lotfi Jaïem, Lionel Lapierre, Karen Godary-Dejean, Didier Crestani
    SysTol: Control and Fault-Tolerant Systems, Sep 2016, Barcelona, Spain. <http://systol16.cs2ac.upc.edu/>
  2. Toward Performance Guarantee for Autonomous Mobile Robotic Mission: An Approach for Hardware and Software Resources Management
    Lotfi Jaïem, Lionel Lapierre, Karen Godary-Dejean, Didier Crestani
    TAROS: Towards Autonomous Robotic Systems, Jun 2016, Sheffield, United Kingdom. pp.189-195.
  3. A Step Toward Mobile Robots Autonomy: Energy Estimation Models
    Lotfi Jaïem, Sébastien Druon, Lionel Lapierre, Didier Crestani
    TAROS: Towards Autonomous Robotic Systems, Jun 2016, Sheffield, United Kingdom. pp.177-188.


  1. Atoms based control of mobile robots with Hardware-In-the-Loop validation
    Adrien Lasbouygues, Benoît Ropars, Robin Passama, David Andreu, Lionel Lapierre
    IROS: Intelligent Robots and Systems, Sep 2015, Hamburg, Germany. pp.1083-1090.
  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
    DSLRob: Domain-Specific Languages and models for ROBotic systems, Sep 2015, Hamburg, Germany. <http://www.doesnotunderstand.org/public/DSLRob2015>
  3. Thruster's dead-zones compensation for the actuation system of an underwater vehicle
    Benoît Ropars, Adrien Lasbouygues, Lionel Lapierre, David Andreu
    ECC: European Control Conference, Jul 2015, Linz, Austria. pp.741-746.


  1. Automatic Handling of Conflicts in Synchronous Interpreted Time Petri Nets Implementation
    Hélène Leroux, Karen Godary-Dejean, Guillaume Coppey, David Andreu
    ISVLSI: IEEE Computer Society Annual Symposium on VLSI, Jul 2014, Tampa, Florida, United States.
  2. Stable and Reactive Centering in Conduits for Karstic Exploration
    Adrien Lasbouygues, Lionel Lapierre, David Andreu, Josue Lopez Hermoso, Hervé Jourde, Benoît Ropars
    ECC: European Control Conference, Jun 2014, Strasbourg, France. pp.2986-2991.
  3. A Collision Avoidance Algorithm Based on the Virtual Target Approach for Cooperative Unmanned Surface Vehicles
    Marco Bibuli, Gabriele Bruzzone, Massimo Caccia, Lionel Lapierre, Enrica Zereik
    MED: Mediterranean Conference on Control and Automation, Jun 2014, Palermo, Italy. pp.746-751.
  4. 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. <http://bhi.embs.org/2014/>
  5. Integrating Implementation Properties in Analysis of Petri Nets Handling Exceptions
    Hélène Leroux, Karen Godary-Dejean, David Andreu
    12th IFAC International Workshop on Discrete Event Systems (WODES), May 2014, Paris, France. pp.406-411.
  6. 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. pp.74-77.


Exploration intégrée de l’environnement

Last update on 09/01/2019