{"id":163,"date":"2022-03-10T18:53:08","date_gmt":"2022-03-10T17:53:08","guid":{"rendered":"https:\/\/serres-lab.com\/?page_id=163"},"modified":"2023-01-25T11:00:09","modified_gmt":"2023-01-25T10:00:09","slug":"bio-inspired-localization","status":"publish","type":"page","link":"https:\/\/serres-lab.com\/fr\/recherche\/projets-de-recherche-actuels\/bio-inspired-localization\/","title":{"rendered":"Localisation bio-inspir\u00e9e"},"content":{"rendered":"\n<div class=\"wp-block-group header is-layout-flow wp-block-group-is-layout-flow\">\n<h2 class=\"wp-block-heading\" id=\"bio-inspired-localization\">Localisation <strong>bio-inspir\u00e9e<\/strong><\/h2>\n<\/div>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-28f84493 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<p>Aujourd\u2019hui, s\u2019affranchir de toute infrastructure terrestre ou satellitaire pour naviguer repr\u00e9sente un enjeu majeur en robotique civile et militaire, non seulement en milieu urbain o\u00f9 les b\u00e2timents et les gratte-ciels sont des \u00e9crans aux ondes, mais aussi en milieu plus rural o\u00f9 le maillage des antennes est peu dense voire inexistant, mais aussi sur diff\u00e9rents th\u00e9\u00e2tres d\u2019op\u00e9ration o\u00f9 les infrastructures sont inop\u00e9rantes, ravag\u00e9es, ou bien brouill\u00e9es. <\/p>\n\n\n\n<p>Au-del\u00e0 de l\u2019int\u00e9r\u00eat militaire, la navigation dans les environnements non couvert par le GPS (pour \u00ab Global Positioning System \u00bb) ou non cartographi\u00e9s repr\u00e9sente l&rsquo;un des dix plus grands d\u00e9fis scientifiques en robotique pour les dix prochaines ann\u00e9es, selon la revue <em>Science Robotics<\/em> (Yang et al., 2018). Actuellement les robots mobiles terrestres utilisent une triple redondance pour se localiser : SLAM-LIDAR, SLAM st\u00e9r\u00e9oscopique, GPS-IMU.<br><br>Ces travaux de recherche viseront \u00e0 d\u00e9velopper et impl\u00e9menter de nouvelles strat\u00e9gies biomim\u00e9tiques, directement inspir\u00e9e des fourmis du d\u00e9sert, pour le retour \u00e0 la base de robots mobiles ou v\u00e9hicules autonomes en environnements complexes.<\/p>\n\n\n\n<p>A l\u2019heure o\u00f9 de nombreux industriels sont aussi en train de d\u00e9velopper des v\u00e9hicules de fret autonomes en ville pour des applications de livraison au dernier kilom\u00e8tre : un tel algorithme inspir\u00e9 des fourmis trouverait alors tout son int\u00e9r\u00eat en milieu urbain comme \u00e9tant une redondance suppl\u00e9mentaire au robot pour retrouver son chemin ou bien aider le robot \u00e0 se localiser en ville.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Publications<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Dupeyroux, J., Viollet, S., &amp;\u00a0<strong>Serres, J. R.<\/strong>\u00a0(2020).\u00a0<a href=\"https:\/\/hal.archives-ouvertes.fr\/hal-02873353\/\">Bio-inspired celestial compass yields new opportunities for urban localization<\/a>. In\u00a0<em>2020 28th Mediterranean Conference on Control and Automation (MED)<\/em>\u00a0(pp. 881-886). IEEE.<br>15-18 September 2020, Saint-Rapha\u00ebl, France<br>DOI:\u00a0<a rel=\"noreferrer noopener\" href=\"https:\/\/doi.org\/10.1109\/MED48518.2020.9183367\" target=\"_blank\">10.1109\/MED48518.2020.9183367<\/a><br><\/li>\n\n\n\n<li>Dupeyroux, J., Viollet, S., &amp;\u00a0<strong>Serres, J. R.<\/strong>\u00a0(2019). <a href=\"https:\/\/hal.archives-ouvertes.fr\/hal-02105997\/\">An ant-inspired celestial compass applied to autonomous outdoor robot navigation<\/a>. <em>Robotics and Autonomous Systems<\/em>, (117), 40-56.<br>DOI: <a href=\"https:\/\/doi.org\/10.1016\/j.robot.2019.04.007\">10.1016\/j.robot.2019.04.007<\/a><br><\/li>\n\n\n\n<li><strong>Serres, J. R.<\/strong>, &amp; Viollet, S.\u00a0(2018).\u00a0<a href=\"https:\/\/hal.archives-ouvertes.fr\/hal-01882712\/\">Insect-inspired vision for autonomous vehicles<\/a>.\u00a0<em>Current opinion in insect science<\/em>, (30), 46-51.<br>DOI:\u00a0<a rel=\"noreferrer noopener\" href=\"https:\/\/doi.org\/10.1016\/j.cois.2018.09.005\" target=\"_blank\">10.1016\/j.cois.2018.09.005<\/a><br><\/li>\n\n\n\n<li>Yang, G. Z., Bellingham, J., Dupont, P. E., Fischer, P., Floridi, L., Full, R., Jacobstein, N., Kumar, V., McNutt, M., Merrifield, R., Nelson, B. ., Scassellati, B., Taddeo, M., Taylor, R., Veloso, M., Wang, Z. L., &amp; Wood, R. (2018). <a href=\"http:\/\/chrome-extension:\/\/efaidnbmnnnibpcajpcglclefindmkaj\/http:\/\/polypedal.berkeley.edu\/wp-content\/uploads\/eaar7650.full_.pdf\" data-type=\"URL\" data-id=\"chrome-extension:\/\/efaidnbmnnnibpcajpcglclefindmkaj\/http:\/\/polypedal.berkeley.edu\/wp-content\/uploads\/eaar7650.full_.pdf\">The grand challenges of Science Robotics<\/a>.\u00a0<em>Science robotics<\/em>,\u00a0<em>3<\/em>(14), eaar7650.<br>DOI: <a href=\"https:\/\/doi.org\/10.1126\/scirobotics.aar7650\">10.1126\/scirobotics.aar7650<\/a><\/li>\n<\/ul>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"918\" height=\"1800\" src=\"https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/10\/AntBot-IEEE-MED-2020-918x1800.png\" alt=\"\" class=\"wp-image-1186\" srcset=\"https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/10\/AntBot-IEEE-MED-2020-918x1800.png 918w, https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/10\/AntBot-IEEE-MED-2020-408x800.png 408w, https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/10\/AntBot-IEEE-MED-2020-768x1505.png 768w, https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/10\/AntBot-IEEE-MED-2020-784x1536.png 784w, https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/10\/AntBot-IEEE-MED-2020-1045x2048.png 1045w, https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/10\/AntBot-IEEE-MED-2020.png 1152w\" sizes=\"auto, (max-width: 918px) 100vw, 918px\" \/><figcaption class=\"wp-element-caption\"><strong>A.<\/strong> Les capteurs ont \u00e9t\u00e9 fix\u00e9s magn\u00e9tiquement sur le toit de la voiture. <br><strong>B.<\/strong> Vue agrandie de la boussole c\u00e9leste (a) et du module GNSS (b). <br><strong>C.<\/strong> Vue a\u00e9rienne de la ville de Marseille, France, y compris la trajectoire de test qui \u00e9tait compos\u00e9e de la route de Luminy (vert), et du boulevard Michelet (rouge) et Prado (bleu). (<a href=\"https:\/\/doi.org\/10.1109\/MED48518.2020.9183367\" data-type=\"URL\" data-id=\"https:\/\/doi.org\/10.1109\/MED48518.2020.9183367\">Dupeyroux et al., IEEE MED 2020<\/a>)<\/figcaption><\/figure>\n<\/div>\n<\/div>\n","protected":false},"excerpt":{"rendered":"<p>Aujourd\u2019hui, s\u2019affranchir de toute infrastructure terrestre ou satellitaire pour naviguer repr\u00e9sente un enjeu majeur en robotique civile et militaire<\/p>\n","protected":false},"author":1,"featured_media":1509,"parent":112,"menu_order":2,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-163","page","type-page","status-publish","has-post-thumbnail","hentry","entry"],"_links":{"self":[{"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/pages\/163","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/comments?post=163"}],"version-history":[{"count":23,"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/pages\/163\/revisions"}],"predecessor-version":[{"id":2111,"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/pages\/163\/revisions\/2111"}],"up":[{"embeddable":true,"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/pages\/112"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/media\/1509"}],"wp:attachment":[{"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/media?parent=163"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}