{"id":267,"date":"2022-04-16T15:24:57","date_gmt":"2022-04-16T13:24:57","guid":{"rendered":"https:\/\/serres-lab.com\/?page_id=267"},"modified":"2025-04-10T11:25:00","modified_gmt":"2025-04-10T09:25:00","slug":"x4-mag-quadcopter-robot","status":"publish","type":"page","link":"https:\/\/serres-lab.com\/fr\/recherche\/projets-de-recherche-acheves\/x4-mag-quadcopter-robot\/","title":{"rendered":"Le Robot Quadricopt\u00e8re X4-MaG"},"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=\"hexapod-robotics\"><strong>Le Robot Quadricopt\u00e8re<\/strong> X4-MaG<\/h2>\n<\/div>\n\n\n\n<div class=\"wp-block-columns alignwide 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>Le robot volant X4-MaG int\u00e8gre un syst\u00e8me visuel biomim\u00e9tique et parcimonieux d\u00e9di\u00e9 \u00e0 la navigation courte port\u00e9e au moyen de capteurs visuels auto-adaptatifs innovants compos\u00e9s de seulement 12 pixels dont l&rsquo;optique et la phototransduction sont inspir\u00e9es de l&rsquo;oeil compos\u00e9 de l&rsquo;abeille. Deux algorithmes ultra-rapides de mesure de flux optique ont \u00e9t\u00e9 compar\u00e9s en conditions id\u00e9ales sur 5 d\u00e9cades d&rsquo;irradiance et 3 d\u00e9cades de vitesses optiques (i.e., flux optique local). <\/p>\n\n\n\n<p>Enfin, le robot X4-MaG a \u00e9t\u00e9 test\u00e9 en conditions r\u00e9elles de vol au sein de l&rsquo;Ar\u00e8ne de Vol de la M\u00e9diterran\u00e9e (AVM). La l\u00e9g\u00e8ret\u00e9 calculatoire de notre algorithme de calcul du flux optique a permis de l&#8217;embarquer \u00e0 bord du X4-MaG \u00e9quip\u00e9 d&rsquo;un syst\u00e8me visuel parcimonieux de 96 pixels auto-adaptatifs stabilis\u00e9 par une nacelle articul\u00e9e en roulis et tangage pour compenser les rotations du quadrirotor, le tout pesant environ 400g.  <\/p>\n\n\n\n<p>La preuve de faisabilit\u00e9 de la d\u00e9tection du flux optique \u00e0 bord du X4-MaG a \u00e9t\u00e9 d\u00e9montr\u00e9e en conditions r\u00e9elles de vol dans l&rsquo;AVM. Coupl\u00e9 \u00e0 des strat\u00e9gies de navigation inspir\u00e9es de l&rsquo;abeille, ce syst\u00e8me visuel innovant d\u00e9di\u00e9 \u00e0 la perception du mouvement permettra dans un futur proche \u00e0 des robots de naviguer dans des environnements encombr\u00e9s, des tunnels, ou des lieux exigus.<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Time-of-Travel Methods for Measuring Optical Flow on Board a Micro Flying Robot (11 March 2017)\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/De8dqX82Ja0?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><figcaption>Evaluation du capteur M\u00b2APIX \u00e0 bord du quadcopter X4-MaG &#8211; <a href=\"https:\/\/www.mdpi.com\/1424-8220\/17\/3\/571\" data-type=\"URL\" data-id=\"https:\/\/www.mdpi.com\/1424-8220\/17\/3\/571\">Vanhoutte et al. (2017)<\/a><\/figcaption><\/figure>\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-full\"><img loading=\"lazy\" decoding=\"async\" width=\"800\" height=\"469\" src=\"https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/04\/Quadricopter-X4-MaG.png\" alt=\"\" class=\"wp-image-225\" srcset=\"https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/04\/Quadricopter-X4-MaG.png 800w, https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/04\/Quadricopter-X4-MaG-300x176.png 300w, https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/04\/Quadricopter-X4-MaG-768x450.png 768w\" sizes=\"auto, (max-width: 800px) 100vw, 800px\" \/><figcaption>Le Robot Quadricopt\u00e8re X4-MaG &#8211; <a href=\"https:\/\/hal.archives-ouvertes.fr\/hal-01593819\/\" data-type=\"URL\" data-id=\"https:\/\/hal.archives-ouvertes.fr\/hal-01593819\/\">Vanhoutte et al. (2017)<\/a><\/figcaption><\/figure>\n\n\n\n<div style=\"height:40px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-1 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"700\" height=\"700\" data-id=\"458\" src=\"https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/04\/Puce-biomimetique-MiAPIX.png\" alt=\"\" class=\"wp-image-458\" srcset=\"https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/04\/Puce-biomimetique-MiAPIX.png 700w, https:\/\/serres-lab.com\/wp-content\/uploads\/2022\/04\/Puce-biomimetique-MiAPIX-400x400.png 400w\" sizes=\"auto, (max-width: 700px) 100vw, 700px\" \/><figcaption>Capteur de mouvement biomim\u00e9tique M\u00b2APIX (9&#215;9 mm) mont\u00e9 \u00e0 bord du robot X4-MaG &#8211; <a href=\"https:\/\/opg.optica.org\/abstract.cfm?uri=oe-23-5-5614\" data-type=\"URL\" data-id=\"https:\/\/opg.optica.org\/abstract.cfm?uri=oe-23-5-5614\">Mafrica et al. (2015)<\/a><\/figcaption><\/figure>\n<\/figure>\n<\/div>\n<\/div>\n\n\n\n<h3 class=\"wp-block-heading\">Publications<\/h3>\n\n\n\n<ul class=\"publicationsList wp-block-list\"><li>Vanhoutte, E., Mafrica, S., Ruffier, F., Bootsma, R. J., &amp; Serres, J. (2017). <a href=\"https:\/\/www.mdpi.com\/1424-8220\/17\/3\/571\/htm\" data-type=\"URL\" data-id=\"https:\/\/www.mdpi.com\/1424-8220\/17\/3\/571\/htm\">Time-of-travel methods for measuring optical flow on board a micro flying robot<\/a>.&nbsp;<em>Sensors<\/em>,&nbsp;<em>17<\/em>(3), 571.<\/li><li>Vanhoutte, E., Ruffier, F., &amp; Serres, J. (2017). <a href=\"https:\/\/hal.archives-ouvertes.fr\/hal-01630170\/\" data-type=\"URL\" data-id=\"https:\/\/hal.archives-ouvertes.fr\/hal-01630170\/\">A quasi-panoramic bio-inspired eye for flying parallel to walls<\/a>. In&nbsp;<em>2017 IEEE SENSORS<\/em>&nbsp;(pp. 1-3). IEEE.<\/li><li>Vanhoutte, E., Ruffier, F., &amp; Serres, J. (2017). <a href=\"https:\/\/hal.archives-ouvertes.fr\/hal-01593819\/\" data-type=\"URL\" data-id=\"https:\/\/hal.archives-ouvertes.fr\/hal-01593819\/\">A honeybee\u2019s navigational toolkit on Board a Bio-inspired Micro Flying Robot<\/a>. In&nbsp;<em>IMAV 2017, International Micro Air Vehicle Conference and Competition 2017, Toulouse, France<\/em>.<\/li><\/ul>\n","protected":false},"excerpt":{"rendered":"<p>Le robot volant X4-MaG int\u00e8gre un syst\u00e8me visuel biomim\u00e9tique et parcimonieux d\u00e9di\u00e9 \u00e0 la navigation proche des obstacles au moyen de capteurs visuels auto-adaptatifs, appel\u00e9s M\u00b2APIX, compos\u00e9s chacun de seulement 12 pixels dont l&rsquo;optique et la phototransduction sont inspir\u00e9es de l&rsquo;oeil compos\u00e9 de l&rsquo;abeille. X4-MaG embarque 8 capteurs M\u00b2APIX et peut mesurer le flux optique dans les r\u00e9gions lat\u00e9rales et ventrales \u00e0 la fa\u00e7on des abeilles.<\/p>\n","protected":false},"author":1,"featured_media":225,"parent":110,"menu_order":13,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-267","page","type-page","status-publish","has-post-thumbnail","hentry","entry"],"_links":{"self":[{"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/pages\/267","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=267"}],"version-history":[{"count":14,"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/pages\/267\/revisions"}],"predecessor-version":[{"id":1486,"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/pages\/267\/revisions\/1486"}],"up":[{"embeddable":true,"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/pages\/110"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/media\/225"}],"wp:attachment":[{"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/media?parent=267"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}