Diffusion scientifique
Dernières publications
Segment-Safe Control Barrier Functions for Model Predictive Control
Communication lors d'une conférence
Andrea Pagnini, Ezio Malis
Ensuring inter-sample safety for continuous-time robotic systems under discrete Model Predictive Control (MPC) remains a key challenge. Standard discrete MPC risks safety violations between sampling instants, while existing conservative solutions often sacrifice performance. We…
Sub-cellular stereotypy in ascidian embryogenesis
Communication lors d'une conférence
Haydar Jammoul, Kilian Biasuz, Benjamin Gallean, Patrick Lemaire, Grégoire Malandain
Ascidians are chordates closely related to vertebrates, including humans, and are widely used as model organisms in developmental biology to study embryonic formation and development. Ascidian development is highly stereotyped at the cellular level. Here, we present a…
Focus on Relevant Road Users with Multi-Rules Reachable Sets
Communication lors d'une conférence
Monica Fossati, Ezio Malis, Philippe Martinet
Autonomous driving in urban environments poses significant challenges due to the presence of numerous heterogeneous agents, which may or may not comply with traffic rules. Considering all agents in the scene when exploring possible future scenarios can be computationally…
T-CoLoc: Leveraging Tethers for Reliable Co-Localization within an Underwater ROV Chain
Communication lors d'une conférence
Juliette Drupt, Claire Dune, Andrew I. Comport, Vincent Hugel
Underwater Remotely Operated Vehicles (ROVs) exchange data with a control station via a communication cable. One or more intermediate robots can be placed along this tether to manage its shape and minimize the mechanical effects on the ROV. This work deals with the localization…
Learning-Based Fusion for Robust Multi-Spectral Visual Servoing
Communication lors d'une conférence
Enrico Fiasché, Siddharth Singh Savner, Ezio Malis, Philippe Martinet
Multispectral sensors, which measure multiple wavelength bands beyond the standard red, green, and blue channels, capture richer information than conventional RGB cameras. Such enriched data is especially valuable in visual servoing, where robot control critically depends on…
Lightweight moment-residual-coherent patterns for image recognition
Article dans une revue
Thanh Tuan Nguyen, Hoang Anh Pham, Thanh Phuong Nguyen, Thinh Vinh Le, Hoai Nam Vu, Van-Dung Hoang