Vincent CREUZE


Building : R+2 Sud

Office : 03/058

Phone : 04 67 41 85 14

Email :

Status : Permanent


  • Associate Professor, University of Montpellier (IUT - electrical engineering). Member of ICAR research team.
  • Accreditation to supervise research.

Research Topics

  • Control and navigation of underwater vehicles,
  • Underwater sensing and image processing,
  • Underwater manipulation,
  • Design of underwater robots,
  • Robotics for underwater archaeology and biology.


GEII Departement (electrical engineering) of IUT of Montpellier (University of Montpellier)

  • Digital electronics and programmable devices,
  • Coding and microcontrollers,
  • Automatic control.

Scientific Activities

  • Director of the robotic development of DRASSM for deep sea archaeology.
  • Member of the board of the Sea & Coast Key Initative MUSE, since 2018.
  • Member of the ANR SEAHAND project (coordinator: Institut PPRIME) since 2015.
  • Coordinator of the PICS "DeepOcean" project (Stanford University / LIRMM), 2017-2020.
  • Coordinator of the MESOCORAL project (CRIOBE / UC Berkeley / LIRMM), 2018-2019.
  • Coordinator of the AQUALOC project (ONERA / DRASSM / LIRMM), 2018.
  • Member of the X-life "Reef Explorer" project (IBMM, MNHN, LIRMM), 2017-2018.
  • French coordinator of a PCP french-mexican research project Structure tracking by underwater vehicles (UMI LAFMIA / LIRMM / Tecnalia), oct. 2011 - dec. 2014. 
  • Coordinator of two ARPE  projects : Minirov (Région Languedoc Roussillon, 2012-2014) and PilotPlus (Région LRMP, 2016-2019).
  • Coordinator for Marine Robotics within the GDR robotique National Research Group (CNRS) from 2012 to January 2017.
  • Associate Editor of Frontiers in Robotics and AI.
  • Associate Editor for IEEE/RSJ IROS 2017, IROS 2016, IROS 2015, IROS 2014 and IROS 2013, International Conference on Intelligent Robots and Systems.
  • Associate Editor for IEEE ICRA 2015, International Conference on Robotics and Automation .
  • Organizer or co-organizer of Marine Robotics workshops within the European Robotics Forum, ERF 2013 (Lyon), ERF 2014 (Rovereto), ERF 2015 (Vienna), ERF 2016 (Ljubjana).
  • Member of the program committees of the following conferences : IRSC-International Robotic Sailing Conference (2013, 2014 and 2015), MOQESM - Quantitative Monitoring of Underwater Environment (2014, 2016, 2018), CETSIS - Colloque sur l'Enseignement des Technologies et des Sciences de l'Information et des Systèmes (since 2010).
  • Special prize of the jury of the Prix Georges Frêche - Université Sud de France, 2012.
  • Member of the scientific board of the Prix La Recherche 2014.
  • Foreign scientific stays : CRIOBE (Moorea, March 2017), Stanford Robotics Laboratory (USA, July 2019, May 2018, Sept 2017, March 2016, Jul 2015), UMI LAFMIA (Mexico, Dec 2010, Dec 2012, Dec 2014), University of Tallin (Estonia, May 2014), University of Sherbrooke (Canada, Oct. 2011).
  • Expert for AERES, ANRT, OSEO, CNRS, and FNRS (Belgium).
  • Several industrial contracts.
  • Collaborations: Stanford University, DRASSM (French Ministry of Culture), Onera, Institut Pprime, CRIOBE, UC Berkeley, Inria I3S, Ifremer, UMI LAFMIA, Institut des Biomolécules Max Mousseron, MNHN, Observatoire d'Océanologie de Banyuls.

PhD students

Maxime Ferrera (advisor): Underwater SLAM for archaeological applications, joint PhD thesis with ONERA DTIS (Palaiseau), Oct. 2016 - Dec. 2019.

Maxence Blond (co-advisor): Optimized design and control of an underwater vehicle, Industrial collaboration, Jan. 2016 - May 2019.

François Leborne (advisor) : Control of two underwater robotic arms for biological sampling, joint PhD thesis with IFREMER, Oct. 2015 - Nov. 2018.

Gamal El Ghazaly (co-advisor) : Hybrid Cable-Thruster Actuated Underwater Vehicle Manipulator Systems, Oct. 2013 - June 2017.

Eduardo Campos-Mercado (co-advisor) : Sensing and control for pipeline tracking by a small AUV, joint PhD thesis with the CINVESTAV of Mexico, 2011 - 2014.

Divine Maalouf (co-advisor) : Adaptive control of low-inertia underwater vehicles, 2010 - 2013.

Olivier Parodi (participation) : Hybrid simulation for the coordintation of of a flottilla of heterogeneous underwater vehicles, 2005-2008.

Recent Publications

"Cardiorespiratory alterations in a newborn ovine model of systemic inflammation induced by lipopolysaccharide injection", Stéphanie Nault, Vincent Creuze, Sally Al-Omar, Annabelle Levasseur, Charlene Nadeau, Nathalie Samson, Guy Carrault, Patrick Pladys, Jean-Paul Praud, Frontiers in Physiology, section Respiratory Physiology, section Respiratory Physiology, Vol. 11, pp.585-602, 17 June 2020.

Michel L'Hour, Daniela Peloso, Franca Cibecchini, Denis Dégez, Vincent Creuze, Frédéric Osada, Christophe Leclercq, « Donner à visiter un cuirassé dans les abysses : le Projet Danton », in Situ. Revue des patrimoines, Ministère de la culture et de la communication, Direction générale des patrimoines, n°42, 15 juin 2020.

"Des technologies de pointe au service de l’archéologie sous-marine", The Conversation, 3 février 2020.

“Adaptive Disturbance Observer for the Trajectory Tracking Control of Underwater Vehicles”, Jesus Guerrero, Jorge Torres, Vincent Creuze, Ahmed Chemori, Ocean Engineering, Elsevier, Vol. 200, March 15, 2020,

“AQUALOC: An Underwater Dataset for Visual-Inertial-Pressure Localization”, Maxime Ferrera, Vincent Creuze, Julien Moras, Pauline Trouvé-Peloux, IJRR – International Journal of Robotics Research, SAGE Journals, Oct 2019,

“Optimal thrusters steering for dynamically reconfigurable underwater vehicles”, Maxence Blond, Daniel Simon, Vincent Creuze, Olivier Tempier, International Journal of Systems Science, Taylor & Francis, Aug. 20, 2019, Vol.50, Issue 12, pp. 2348-2361,

“Observation Based Nonlinear PD Control for Robust Trajectory Tracking for Autonomous Underwater Vehicles”, Jesus Guerrero, Jorge Torres, Vincent Creuze, Ahmed Chemori, IEEE Journal of Oceanic Engineering, July 26, 2019,

“Saturation Based Nonlinear PID control for Underwater Vehicles: Design, Stability Analysis and Experiments”, Jesus Guerrero, Jorge Torres, Vincent Creuze, Ahmed Chemori, Eduardo Campos-Mercado, Mechatronics, Elsevier, 2019, vol. 61, pp.96-105.

"Real-Time Monocular Visual Odometry for Turbid and Dynamic Underwater Environments", Maxime Ferrera, Julien Moras, Pauline Trouvé-Peloux, and Vincent Creuze, Sensors, Vol. 19, issue 3, article n°687, 20 pages, Feb. 8, 2019.

"Trajectory tracking for autonomous underwater vehicle: An adaptive approach”, J.Guerrero, J.Torres, V.Creuze, A.Chemori, Ocean Engineering, Elsevier, Volume 172, Pages 511-522, 15 January 2019. DOI:

“The Aqualoc Dataset: Towards Real-Time Underwater Localization from a Visual-Inertial-Pressure Acquisition System”, Maxime Ferrera, Julien Moras, Pauline Trouvé-Peloux, Vincent Creuze, Denis Dégez,  IROS 2018 Workshop - New Horizons for Underwater Intervention Missions: from Current Technologies to Future Applications, Madrid, Spain, Oct 2018.

“A nonlinear controller based on saturation functions with variable parameters to stabilize an AUV”, Eduardo Campos Mercado, Jesus Monroy, Hugo Abundis, Ahmed Chemori, Vincent Creuze, Jorge Torres, International Journal of Naval Architecture and Ocean Engineering, Elsevier, May 2018. DOI: 10.1016/j.ijnaoe.2018.04.002

“Dynamic Modeling and Identification of an Heterogeneously Actuated Underwater Manipulator Arm”, François Leborne, Vincent Creuze, Ahmed Chemori and Lorenzo Brignone, ICRA 2018, IEEE International Conference on Robotics and Automation, Brisbane, Australia, 21-25 May 2018.

"Saturation Based Nonlinear Depth and Yaw Control of Underwater Vehicles with Stability Analysis and Real-time Experiments", Eduardo Campos Mercado, Ahmed Chemori, Vincent Creuze, Jorge Torres Muñoz, Rogelio Lozano Leal, Mechatronics, Elsevier, Volume 45, pp. 49–59, August 2017.

“Monocular Odometry for Underwater Vehicles with Online Estimation of the Scale Factor”, V. Creuze, IFAC 2017 World Congress, Demonstrators Session, 20th World Congress of the International Federation of Automatic Control, Toulouse, France, 9-14 July 2017.

“Ocean One – A Robotic Avatar for Oceanic Discovery”, Oussama Khatib, Xiyang Yeh, Gerald Brantner, Brian Soe, Boyeon Kim, Shameek Ganguly, Hannah Stuart, Shiquan Wang, Mark Cutkosky, Aaron Edsinger, Phillip Mullins, Mitchell Barham, Christian Voolstra, Khaled Salama, Michel L’Hour, and Vincent Creuze, IEEE Robotics & Automation Magazine, Vol. 23, n°4, pp.20-29, December 2016.

"Hybrid Cable-Thruster Actuated Underwater Vehicle Manipulator Systems: A Study on Force Capabilities", G. Elghazaly, M. Gouttefarde, V. Creuze,  IROS 2015, IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, Sept 28 - Oct 03, 2015.

"L1 Adaptive Depth and Pitch Control of an Underwater Vehicle with Real-Time Experiments", D. Maalouf, A. Chemori, V. Creuze, Ocean Engineering, Elsevier, Volume 98, pp. 66–77, March 2015,

"Real-time experimental comparison of two depth control schemes for Underwater Vehicles", Divine Maalouf, Vincent Creuze, Ahmed Chemori, Eduardo Campos Mercado, Ivan Torres Tamanaja, Jorge Torres Muñoz, Rogelio Lozano, Olivier Tempier, International Journal of Advanced Robotic Systems, ISSN 1729-8806, DOI: 10.5772/59185, February 20, 2015.

"Feedforward Inertial Actuation for Roll Stabilization of an Underactuated Underwater Vehicle", D. Maalouf, V. Creuze, A. Chemori, O. Tempier, International Journal of Robotics and Automation, Vol. 30, dec 2014, DOI:10.2316/Journal.206.2015.1.206-4161.

"Non invasive devices and methods for large animal monitoring using automated video processing", F. Porée, V. Creuze, M.L. Specq, N. Samson, J.P. Praud, and G. Carrault, IRBM - Innovation and Research in BioMedical Engineering, Vol. 35, pp 173-181, Elsevier, 2014.

"Robots marins et sous-marins. Perception, modélisation, commande", V. Creuze,Techniques de l’Ingénieur, Collection Robotique, ref. article : s7783, base documentaire : TIB398DUO, Editions T.I., sept 2014.

"French archaeology’s long march to the deep. The Lune project. Building the underwater archaeology of the future", Michel L’Hour and Vincent Creuze, International Symposium on Experimental Robotics (ISER 2014), Marrakech/Essaouira, Morocco, June 15–18, 2014. published in Experimental Robotics: The 14th International Symposium on Experimental Robotics, Springer International Publishing, 109, pp.911-927, 2016.

"Adaptive Terminal Sliding Mode Control of a Redundantly-Actuated Cable-Driven Parallel Manipulator: CoGiRo", Gamal El-Ghazaly, Marc Gouttefarde, Vincent Creuze, International Conference on Cable-Driven Parallel Robots (CableCon2014), pp. 179-200, Duisburg, Germany, August 24-27, 2014.

"Stability Analysis of a New Extended L1 Controller with Experimental Validation on an Underwater Vehicle", Divine Maalouf, Ahmed Chemori, Vincent Creuze, CDC 2013: 52nd IEEE Conference on Decision and Control, Florence, Italy, December 10-13, 2013.

 "A new extension of the L1 adaptive controller to drastically reduce the tracking time lags", D. Maalouf, A. Chemori, V. Creuze, NOLCOS 2013: 9th IFAC Symposium on Nonlinear Control Systems, Toulouse, France, September 4-6, 2013.

 “From PD to Nonlinear Adaptive Depth-Control of a Tethered Autonomous Underwater Vehicle”, Divine Maalouf, Ivan Torres Tamanaja, Eduardo Campos Mercado, Ahmed Chemori, Vincent Creuze, J.A. Torres Muñoz, Rogelio Lozano, IFAC 5th Symposium on System Structure and Control, Grenoble, France, February 4-6, 2013.

 “A Novel Application of Multivariable L1 Adaptive Control : from Design to Real-Time Implementation on an Underwater Vehicle”, D. Maalouf, V. Creuze, and A. Chemori, IROS 2012, IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Portugal, October 7-12, 2012.


Aqualoc Dataset : underwater monocular video sequences for the study of underwater localization methods. Each sequence includes, as a ROS bag, the synchronized measurements of a monochromatic camera (20 Hz), an IMU (200 Hz), a compass (80 Hz) and a pressure sensor (5-10 Hz), July 15, 2018.


Marine robotics, Underwater vehicles, Computer vision, Robotics for underwater archaeology, Robotics for marine biology

Last update on 11/01/2021