ROBOTICS, ACTION AND PERCEPTION

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The research conducted by the RAP team concerns the design, prototyping, implementation and evaluation of algorithms for: visual perception; sensor-based control and navigation; interactive mobile manipulation; multi-sensor data modeling and fusion.


HEAD

Patrick Danes

PHD DELEGATE

Fadi Gebrayel

The research conducted by the RAP team concerns the design, prototyping, implementation and evaluation of algorithms for: visual perception; sensor-based control and navigation; interactive mobile manipulation; multi-sensor data modeling and fusion. As a robotics team, the addressed issues are: the uncontrolled, dynamic and evolving nature of environments and perceptual conditions; uncertainty management; real-time processing requirement; embedding of algorithms, possibly of their hardware support; reproducibility of results.

Visual Perception in Robotics

Detection, segmentation, tracking, identification of humans and/or objects

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Sensor-based Navigation and Control -- Interactive Mobile Manipulation

Manipulation, mobile manipulation, navigation with exteroceptive sensor feedback

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Multi-sensor Data Modeling and Fusion

Action recognition, learning and prediction of complex behaviors, localization, SLAM...

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Side Activities

Side collaborations and activities

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Latest publications

2024

Journal articles

H Bildstein, Viviane Cadenat, Adrien Durand-Petiteville. Visual Predictive Control for Mobile Manipulator: Visibility, Manipulability, and Stability. Robotics and Autonomous Systems, 2024, 180, pp.104754. ⟨10.1016/j.robot.2024.104754⟩. ⟨hal-04812155⟩

Conference papers

Emily Holmes, Gaël Loubet, Patrick Danès, Daniela Dragomirescu. Hardware Integration of a Neural Network onto FPGA and its Application to Sound Source Localization. 31st IEEE International Conference on Electronics Circuits and Systems (ICECS), Nov 2024, Nancy, France. ⟨hal-04831805⟩

Fadi Gebrayel, Martin Mujica, Patrick Danès. Visual Servoing for Vine Pruning based on Point Cloud Alignment. Icinco, Nov 2024, Porto (Portugal), Portugal. ⟨hal-04835687⟩

Reports

Marc Renaud. Polynômes particuliers à une variable. INSA Toulouse; LAAS CNRS. 2024. ⟨hal-04804020⟩

Preprints, Working Papers, ...

Joël Tari, Patrick Danès. Causal Representation of the Simultaneous Localization And Mapping Problem. 2024. ⟨hal-04860487⟩

2023

Conference papers

H. Bildstein, A. Durand-Petiteville, Viviane Cadenat. Multi-camera Visual Predictive Control Strategy for Mobile Manipulators. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Jun 2023, Seattle (USA, United States. pp.476-482, ⟨10.1109/AIM46323.2023.10196125⟩. ⟨hal-04199898⟩

Adrien Durand-Petiteville, Viviane Cadenat, Thierry Sentenac. Stand-alone obstacle avoidance controller for image-based navigation. IEEE LARS 2022 / SBR 2022 -19th IEEE Latin American Robotics Symposium / 14th Brazilian Symposium on Robotics, Oct 2022, São Paulo, Brazil. p. 133-138, ⟨10.1109/LARS/SBR/WRE56824.2022.9995933⟩. ⟨hal-03807426⟩

Hugo Bildstein, A. Durand-Petiteville, Viviane Cadenat. Enhanced Visual Predictive Control Scheme for Mobile Manipulator. European Conference on Mobile Robots (ECMR 2023), Sep 2023, Coimbra, Portugal. pp.1-7, ⟨10.1109/ECMR59166.2023.10256320⟩. ⟨hal-04634937⟩

Antoine Villemazet, Adrien Durand-Petiteville, Viviane Cadenat. Multi-camera GPS-free Nonlinear Model Predictive Control strategy to traverse orchards. European Conference on Mobile Robots, Sep 2023, Coimbra (PT), Portugal. ⟨hal-04634897⟩

Adrien Durand-Petiteville, Viviane Cadenat, Aluizio F.R. Araujo, Ariane Herbulot, Antoine Villemazet, et al.. A GNSS-free navigation strategy for orchards. SBIAgro 2023 - Congresso Brasileiro de Agroinformática, Nov 2023, Natal - Rio Grande do Norte, Brazil. ⟨hal-04646989⟩

Viviane Cadenat, Adrien Durand-Petiteville, Donatien Billot, Antoine Villemazet. Image-based tree detection for autonomous navigation in orchards. Latin American Robotics Symposium (LARS), 2023 Brazilian Symposium on Robotics (SBR), and 2023 Workshop on Robotics in Education (WRE 2023), Oct 2023, Salvador (Bahia), Brazil. ⟨10.1109/LARS/SBR/WRE59448.2023.10332948⟩. ⟨hal-04386063⟩

Other documents

Roland Lenain, Marco Medici, Philippe Martinet, Ouiddad Igbida Labbani, Danès Patrick, et al.. NINSAR: New itineraries for agroecology using cooperative robots. WORLD FIRA 2023 - Forum international de la robotique agricole en action, Feb 2023, Toulouse, France. , pp.1-1, 2023. ⟨hal-04205666⟩

Preprints, Working Papers, ...

Marc Renaud. Géométrie du triangle à l'aide des coordonnées aréolaires. 2023. ⟨hal-04074181⟩

Marc Renaud. Grassmanniennes, calcul de Schubert et polynômes de Schur. 2023. ⟨hal-04288623⟩

2022

Journal articles

Lionel Pibre, Jorge Francisco Madrigal Diaz, Cyrille Equoy, Frédéric Lerasle, Thomas Pellegrini, et al.. Audio-video fusion strategies for active speaker detection in meetings. Multimedia Tools and Applications, 2022, 2022, pp.1-26. ⟨10.1007/s11042-022-13746-7⟩. ⟨hal-03792965⟩

A. Durand-Petiteville, Viviane Cadenat. Visual predictive control for differential drive robots with parallel implementation on GPU. Computers and Electrical Engineering, 2022, 102, pp.108-120. ⟨10.1016/j.compeleceng.2022.108120⟩. ⟨hal-04909381⟩

A. Durand-Petiteville, Viviane Cadenat. Advanced Visual Predictive Control Scheme For The Navigation Problem. Journal of Intelligent and Robotic Systems, 2022, 105 (35), ⟨10.1007/s10846-022-01623-2⟩. ⟨hal-04881773⟩

Conference papers

H Bildstein, A Durand-Petiteville, Viviane Cadenat. Visual Predictive Control Strategy for Mobile Manipulators. European Control Conference (ECC 2022), Jul 2022, Londres, United Kingdom. ⟨10.23919/ECC55457.2022.9838241⟩. ⟨hal-03696981⟩

Quentin Portes, José Mendes Carvalho, Julien Pinquier, Frédéric Lerasle. Comparison of Two Approaches for Human Tense Situation Analysis in Car Cabin. International Conference on Advances in Multimedia (MMEDIA 2022), Apr 2022, Barcelone, Spain. ⟨hal-04920237⟩

Esteban Perrotin, Matthieu Roy, Ariane Herbulot, Michel Devy, Fabrice Bousquet. Détection des lignes aéroportuaires par méthode hybride de filtrage particulaire et de réseaux de neurones. Congrès Reconnaissance des Formes, Image, Apprentissage et Perception (RFIAP 2022), Jul 2022, Vannes, France. ⟨hal-03788203⟩

Antoine Villemazet, Adrien Durand-Petiteville, Viviane Cadenat. Autonomous Navigation Strategy for Orchards Relying on Sensor-based Nonlinear Model Predictive Control. IEEE/ASME international conference on Advanced Intelligent Mechatronics (AIM), Jul 2022, Sapporo, Japan. ⟨10.1109/AIM52237.2022.9863243⟩. ⟨hal-03691877⟩

Esteban Perrotin, Matthieu Roy, Ariane Herbulot, Michel Devy, Fabrice Bousquet. Towards the certification of vision based systems: modular architecture for airport line detection. 11th European Congress on Embedded Real-Time Systems, Jun 2022, Toulouse, France. ⟨hal-03717993⟩

Frédéric Lerasle, Joris Guérin, Kimberley Gaume. Optimisation conjointe du contenu sémantique et du temps d'exécution pour une tâche robotisée de saisie d'objet. Reconnaissance des Formes, Images, Apprentissage et Perception (RFIAP), Jul 2022, Vannes (Bretagne), France. ⟨hal-04490461⟩

Reports

Louise Travé-Massuyès, Michel Devy. Rapport de synthèse n°6 - Projet COCOTIER. LAAS-CNRS. 2022. ⟨hal-03798439⟩

Preprints, Working Papers, ...

Fabio Ardiani, Martin Mujica, Mourad Benoussaad, Alexandre Janot, Jean-Yves Fourquet. MESSII: a parameter identification dataset for KUKA IIWA collaborative manipulator. 2022. ⟨hal-03866427⟩

2021

Journal articles

Cyril Tropis, Nicolas Dufour, Germain Garcia, Gerard Montseny, Chaabane Talhi, et al.. Diffusive Representation: A Powerful Method to Analyze Temporal Signals from Metal-Oxide Gas Sensors Used in Pulsed Mode. Electronics, 2021, 10 (21), pp.2578. ⟨10.3390/electronics10212578⟩. ⟨hal-03408726⟩

Luis Emmi, Emile Le Flecher, Viviane Cadenat, Michel Devy. A hybrid representation of the environment to improve autonomous navigation of mobile robots in agriculture. Precision Agriculture, 2021, 22, pp.524-549. ⟨10.1007/s11119-020-09773-9⟩. ⟨hal-04889052⟩

Conference papers

Claire Meymandi-Nejad, Esteban Perrotin, Ariane Herbulot, Michel Devy. Colorimetric Space Study: Application for Line Detection on Airport Areas. 7th International Conference on Vehicle Technology and Intelligent Transport Systems (VEHITS 2021), Apr 2021, En ligne, France. pp.546-553, ⟨10.5220/0010456605460553⟩. ⟨hal-03650600⟩

Esteban Perrotin, Claire Meymandi-Nejad, Ariane Herbulot, Michel Devy, Fabrice Bousquet. Détection des lignes aéroportuaires par méthode de filtrage particulaire: Évaluation de fonctions d'observations. ORASIS 2021, Centre National de la Recherche Scientifique [CNRS], Sep 2021, Saint Ferréol, France. ⟨hal-03339641⟩

Jorge Francisco Madrigal Diaz, Frédéric Lerasle, Lionel Pibre, Isabelle Ferrané. Audio-Video detection of the active speaker in meetings. IEEE 25th International Conference on Pattern Recognition (ICPR 2020), IAPR : International Association of Pattern Recognition, Jan 2021, Milan (virtual), Italy. ⟨10.1109/ICPR48806.2021.9412681⟩. ⟨hal-03125600⟩

Quentin Portes, Julien Pinquier, Frédéric Lerasle, Jose Mendes-Carlalho. Analyse multimodale d'interaction humaine dans le cockpit d'un véhicule. 18èmes journées francophones des jeunes chercheurs en vision par ordinateur (ORASIS 2021), Centre National de la Recherche Scientifique [CNRS]; Equipe REVA, IRIT : Institut de Recherche en Informatique de Toulouse, Sep 2021, Saint Ferréol, France. ⟨hal-03339623⟩

Quentin Portes, José Mendes Carvalho, Julien Pinquier, Frédéric Lerasle. Multimodal Neural Network for Sentiment Analysis in Embedded Systems. 16th International Conference on Computer Vision Theory and Applications (VISAPP 2021), Feb 2021, Online, France. pp.387-398, ⟨10.5220/0010224703870398⟩. ⟨hal-03445482⟩

Camille Maurice, Francisco Madrigal, Frédéric Lerasle. Late Fusion of Bayesian and Convolutional Models for Action Recognition. International Conference on Pattern Recognition (ICPR), Jan 2021, Milan (virtual), Italy. ⟨10.1109/ICPR48806.2021.9412510⟩. ⟨hal-03108212⟩

Tristan Klempka, Patrick Danès. A State-Space Solution to the Estimation of Interacting Vehicle Trajectories with Deep Neural Networks and Variational Bayes Filtering. 2021 IEEE International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics (ECMSM), Jun 2021, Liberec, Czech Republic. pp.1-7, ⟨10.1109/ECMSM51310.2021.9468863⟩. ⟨hal-04860497⟩

Claire Labit-Bonis, Jérôme Thomas, Frédéric Lerasle. Compact and discriminative multi-object tracking with siamese CNNs. IEEE International Conference on Pattern Recognition, Jan 2021, Milan (virtual), Italy. ⟨10.1109/ICPR48806.2021.9412600⟩. ⟨hal-03125591⟩

Camille Maurice, Frédéric Lerasle. Action Recognition with Fusion of Multiple Graph Convolutional Networks. 2021 17th IEEE International Conference on Advanced Video and Signal Based Surveillance (AVSS), Nov 2021, Washington, DC, United States. ⟨10.1109/AVSS52988.2021.9663765⟩. ⟨hal-03562364⟩

Quentin Portes, Julien Pinquier, Frédéric Lerasle, José Mendes Carvalho. Multimodal human interaction analysis in vehicle cockpit. IEEE International Intelligent Transportation Systems Conference (ITSC 2021), Sep 2021, Indianapolis, United States. pp.2118-2124, ⟨10.1109/ITSC48978.2021.9564792⟩. ⟨hal-03445480⟩

Preprints, Working Papers, ...

Claire Labit-Bonis, Jérôme Thomas, Frédéric Lerasle. Visual and automatic bus passenger counting based on a deep tracking-by-detection system. 2021. ⟨hal-03363502⟩

2020

Journal articles

E. Le Flécher, Adrien Durand-Petiteville, Viviane Cadenat, Thierry Sentenac. Simultaneous Control of Two Robotics Arms Sharing Workspace via Visual Predictive Control. Lecture Notes in Electrical Engineering, 2020, Lecture Notes in Electrical Engineering, 720, pp.79-98. ⟨10.1007/978-3-030-63193-2_5⟩. ⟨hal-03193458⟩

Francisco Madrigal, Frédéric Lerasle. Robust Head Pose Estimation based on Key-Frames for human-machine interaction. EURASIP Journal on Image and Video Processing, 2020, 13, ⟨10.1186/s13640-020-0492-x⟩. ⟨hal-03079328⟩

Viviane Cadenat, Simon Lacroix. Le bon mouvement au bon moment. Le petit illustré, regards croisés de chercheur.es, 2020, pp.20-23. ⟨hal-03458880⟩

Book sections

Michel Devy, Frédéric Lerasle, Nicolas Dobigeon, Cédric Févotte. Perception et apprentissage de représentations. Intelligence artificielle - Regards croisés de chercheur·es, 44, La Dépêche; CNRS, pp.12-15, 2020, Le Petit Illustré. ⟨hal-03114591⟩

Conference papers

Claire Meymandi-Nejad, Ariane Herbulot, Michel Devy. Débrumage d'images pour la détection de lignes dans le domaine aéronautique. RFIAP, Jun 2020, Vannes, France. ⟨hal-02965329⟩

Joël Tari, Patrick Danès. Person Following from a Nonholonomic Mobile Robot with Ultimately Bounded Tracking Error. IFAC World Congress, Jul 2020, Berlin, Germany. pp.9596-9601, ⟨10.1016/j.ifacol.2020.12.2451⟩. ⟨hal-04759738⟩

Camille Maurice, Jorge Francisco Madrigal Diaz, Frédéric Lerasle. Fusion de modèles bayésiens et de convolution pour la reconnaissance d'actions. Reconnaissance des Formes, Image, Apprentissage et Perception RFIAP, Jun 2020, Vannes, France. ⟨hal-02937489⟩

Adrien Durand-Petiteville, Viviane Cadenat. Visual Predictive Control Scheme for a Mobile Robot Navigating in a Cluttered Environment. IEEE LARS and SBR (Latin American Robotics Symposium/Brazilian Robotics Symposium), Nov 2020, Natal (Virtual), Brazil. ⟨10.1109/LARS/SBR/WRE51543.2020.9307090⟩. ⟨hal-03193419⟩

Adrien Durand-Petiteville, Viviane Cadenat. Mobile Robot Navigation in a Cluttered Environment via Visual Predictive Control. CBA 2020 : XXIII Congresso Brasileiro de Automática, Nov 2020, Virtual event, Brazil. ⟨hal-03193410⟩

Claire Meymandi-Nejad, Esteban Perrotin, Ariane Herbulot, Michel Devy. Aircraft Navigation on Taxiways: Evaluation of Line Detection Algorithms Proposed for Automotive Applications. ISCSIC 2020: 2020 4th International Symposium on Computer Science and Intelligent Control, Nov 2020, Newcastle upon Tyne, United Kingdom. pp.1-6, ⟨10.1145/3440084.3441202⟩. ⟨hal-03153688⟩

RAP is involved in several collaborative actions.

  • NINSAR (New ItiNerarieS for Agroecology using cooperative Robots) Project of the PEPR on Agroecology and ICT
  • IMM (Interactive Mobile Manipulation) Project of the O2R (Organic Robotics) Program of PEPR Exploratoires
  • TIRREX Equipment of Excellence (Equipex+), more particularly the Roboterrium Rob@t of the Autonomous Land Robotics Axis
  • Agricultural Robotics Grand Challenge
  • ARPON (Autonomous Robotic Platform for Orchard Navigation) Project, co-funded by French ANR and FACEPE (Brazil)(Brésil)
  • Key Challenge on Human-centered Robotics and Key Challenge on Intelligent and Sustainable Mobility in Occitanie (MIDOC), both funded by La Région Occitanie
  • GEOSUR and PROTECH Projects, funded by France2030 PIA4
  • CIFRE Doctoral theses in partnership with the local socio-economic fabric

Texte à modifier dans l’interface d’édition: champ 'productions' de la page Equipe.

THESIS / HDR

2024

Hugo Bildstein, Thèse: Exploration de stratégies de commande visuelle prédictive pour le contrôle des mouvements de manipulateurs mobiles

Hugo Bildstein, Thèse: Exploration de stratégies de commande visuelle prédictive pour le contrôle des mouvements d'un manipulateur mobile

2022

Tristan Klempka, Thèse: Prédiction de déplacements de véhicules connectés en interaction pour la caractérisation de situations à risques

Quentin Portes, Thèse: Analyse multimodale de situations conflictuelles en contexte véhicule

2021

Claire Meymandi-Nejad, Thèse: Assistance à la navigation d'aéronefs dans les zones aéroportuaires par vision multi-spectrale

Dimitri Leca, Thèse: Navigation autonome d'un robot agricole

2020

Camille Maurice, Thèse: Reconnaissance d'actions humaines dans des vidéos, en particulier lors d'interaction avec des objets

Emile Le Flecher, Thèse: Coordination des mouvements d'un système mobile bi-bras pour la réalisation de tâches complexes de navigation et de manipulation dans un environnement fortement dynamique

2019

Jessica Combier, Thèse: Conception et développement de composants logiciels et matériels pour un dispositif ophtalmique

2018

Francisco Rodolfo Barbosa-Anda, Thèse: Techniques d'optimisation pour la détection et ré-identification de personnes dans un réseau de caméras

William Gélard, Thèse: Modélisation 3D et suivi visuel pour caractériser le phénotype de variétés de tournesol

2017

François-Xavier Decroix, Thèse: Apprentissage en ligne de signatures audiovisuelles pour la reconnaissance et le suivi de personnes au sein d’un réseau de capteurs ambiants

Loïc Pierre Fagot-Bouquet, Thèse: Représenter pour suivre : exploitation de représentations parcimonieuses pour le suivi multi-objets

2016

Ali Alhamwi, Thèse: Conception conjointe matériel-logiciel d'un système de vision temps réel sur FPGA pour la détection d'obstacles

Daniel Tortei, Thèse: Adéquation algorithme-architecture pour la localisation de robot mobile et la détection basée modèle d'obstacles

François Brenot, Thèse: Application d'une méthodologie de co-design à la définition et à l'implémentation d'une chaîne SLAM opérationnelle

2015

Renliw Fleurmond, Thèse: Asservissement visuel coordonné de deux bras manipulateurs

Christophe Mollaret, Thèse: Perception multimodale de l’homme pour l’interaction Homme-Robot

Lucas Marti, Thèse: Estimation de la posture humaine par capteur RGB-D

Guido Manfredi, Thèse: Modèle d'objets d'apprentissage et contexte de reconnaissance et de localisation

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