{"id":2950,"date":"2023-04-10T11:18:36","date_gmt":"2023-04-10T09:18:36","guid":{"rendered":"https:\/\/serres-lab.com\/recherche\/projets-de-recherche-acheves\/antcar\/"},"modified":"2025-10-01T18:31:48","modified_gmt":"2025-10-01T16:31:48","slug":"antcar","status":"publish","type":"page","link":"https:\/\/serres-lab.com\/fr\/recherche\/projets-de-recherche-acheves\/antcar\/","title":{"rendered":"Le v\u00e9hicule autonome AntCar"},"content":{"rendered":"\n<h1 class=\"wp-block-heading\"><strong>Le v\u00e9hicule autonome AntCar<\/strong><\/h1>\n\n\n\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\">Un v\u00e9hicule de type voiture \u00e9quip\u00e9 d\u2019une vision panoramique inspir\u00e9e des fourmis<\/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><strong>Le but du projet AntCar est de d\u00e9velopper une nouvelle m\u00e9thode de suivi d\u2019itin\u00e9raire<\/strong> pour robots mobiles ou v\u00e9hicules intelligents dans des environnements d\u00e9pourvus de g\u00e9olocalisation par satellites comme les canyons urbains ou les espaces int\u00e9rieurs. Pour cela, nous avons utilis\u00e9 un mod\u00e8le neuronal robuste et biologiquement contraint inspir\u00e9 des fourmis d\u00e9velopp\u00e9 pr\u00e9c\u00e9demment en simulation pour \u00e9valuer l\u2019indice de familiarit\u00e9 d\u2019un panorama.<\/p>\n\n\n\n<p><strong>Cet algorithme exploit\u00e9 en boussole visuelle consiste \u00e0 d\u00e9terminer l\u2019orientation de l\u2019indice de familiarit\u00e9 maximal<\/strong> par rapport aux panoramas appris le long d\u2019un chemin. Un robot de type voiture a \u00e9t\u00e9 \u00e9quip\u00e9 d\u2019une cam\u00e9ra \u00e0 vision panoramique de 220\u00b0. L\u2019algorithme corrige le cap \u00e0 suivre en utilisant des images tr\u00e8s basse r\u00e9solution de 44\u00d744 pixels (5\u00b0\/pixel) \u00e0 l\u2019int\u00e9rieur et \u00e0 l\u2019ext\u00e9rieur pour d\u00e9terminer la direction \u00e0 suivre le long du chemin pr\u00e9alablement appris visuellement.<\/p>\n\n\n\n<p><strong>Les r\u00e9sultats obtenus<\/strong> sont particuli\u00e8rement fiables et reproductifs. Le mod\u00e8le neuronal biologiquement contraint m\u00e9morise des informations visuelles de mani\u00e8re parcimonieuse avec une grande efficacit\u00e9, de sorte que la m\u00e9moire visuelle poss\u00e8de une empreinte m\u00e9moire tr\u00e8s faible repr\u00e9sentant \u00e0 peine quelques dizaines de kilooctets par kilom\u00e8tre parcouru.<\/p>\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=\"901\" height=\"1352\" src=\"https:\/\/serres-lab.com\/wp-content\/uploads\/2025\/04\/AntCar-ISM-BIOROBOTIQUE.jpg\" alt=\"\" class=\"wp-image-2915\" srcset=\"https:\/\/serres-lab.com\/wp-content\/uploads\/2025\/04\/AntCar-ISM-BIOROBOTIQUE.jpg 901w, https:\/\/serres-lab.com\/wp-content\/uploads\/2025\/04\/AntCar-ISM-BIOROBOTIQUE-533x800.jpg 533w, https:\/\/serres-lab.com\/wp-content\/uploads\/2025\/04\/AntCar-ISM-BIOROBOTIQUE-768x1152.jpg 768w\" sizes=\"auto, (max-width: 901px) 100vw, 901px\" \/><figcaption class=\"wp-element-caption\">Roxane Vimbert programmant le robot AntCar \u2013 Institut des Sciences du Mouvement \u2013 Etienne-Jules Marey (CNRS\/AMU, ISM UMR7287). <em>\u00a9Tifenn Ripoll \u2013 VOST Collectif \/ Institut Carnot STAR (2021)<\/em><\/figcaption><\/figure>\n<\/div>\n<\/div>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1800\" height=\"1198\" src=\"https:\/\/serres-lab.com\/wp-content\/uploads\/2025\/10\/Franck-Ruffier-Gabriel-Gattaux-Julien-Serres-et-Antcar-Copyright-Cyril-FRESILLON-ISM-CNRS-Images-2024-1800x1198.jpg\" alt=\"\" class=\"wp-image-3166\" srcset=\"https:\/\/serres-lab.com\/wp-content\/uploads\/2025\/10\/Franck-Ruffier-Gabriel-Gattaux-Julien-Serres-et-Antcar-Copyright-Cyril-FRESILLON-ISM-CNRS-Images-2024-1800x1198.jpg 1800w, https:\/\/serres-lab.com\/wp-content\/uploads\/2025\/10\/Franck-Ruffier-Gabriel-Gattaux-Julien-Serres-et-Antcar-Copyright-Cyril-FRESILLON-ISM-CNRS-Images-2024-800x532.jpg 800w, https:\/\/serres-lab.com\/wp-content\/uploads\/2025\/10\/Franck-Ruffier-Gabriel-Gattaux-Julien-Serres-et-Antcar-Copyright-Cyril-FRESILLON-ISM-CNRS-Images-2024-768x511.jpg 768w, https:\/\/serres-lab.com\/wp-content\/uploads\/2025\/10\/Franck-Ruffier-Gabriel-Gattaux-Julien-Serres-et-Antcar-Copyright-Cyril-FRESILLON-ISM-CNRS-Images-2024-1536x1022.jpg 1536w, https:\/\/serres-lab.com\/wp-content\/uploads\/2025\/10\/Franck-Ruffier-Gabriel-Gattaux-Julien-Serres-et-Antcar-Copyright-Cyril-FRESILLON-ISM-CNRS-Images-2024-2048x1363.jpg 2048w\" sizes=\"auto, (max-width: 1800px) 100vw, 1800px\" \/><figcaption class=\"wp-element-caption\">De gauche \u00e0 droite : Franck Ruffier, Gabriel Gattaux et le robot voiture Antcar, puis Julien Serres. <br>Institut des Sciences du Mouvement \u2013 Etienne-Jules Marey (CNRS\/AMU, ISM UMR7287). <br><em>\u00a9 Cyril Fresillon \/ ISM \/ CNRS Images (2024)<\/em><\/figcaption><\/figure>\n\n\n\n<div style=\"height:50px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\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=\"Les nouveaux robots bioinspir\u00e9s | Reportage CNRS\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/Xh_cJP8oKns?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 class=\"wp-element-caption\">Les nouveaux robots bioinspir\u00e9s | Reportage CNRS \u2013 25 f\u00e9vrier 2025\nPr\u00e9sentation du robot-fourmi AntCar et du robot \u00e0 ailes battantes X-Fly<\/figcaption><\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<div class=\"wp-block-group has-light-background-color has-background is-layout-flow wp-block-group-is-layout-flow\">\n<p class=\"has-grey-color has-text-color\"><strong>Publications :<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list publicationsList\">\n<li>Gattaux, G. G., Wystrach, A., <strong>Serres, J. R.<\/strong>, &amp; Ruffier, F. (2025). <a href=\"https:\/\/www.nature.com\/articles\/s41467-025-62327-3\" data-type=\"link\" data-id=\"https:\/\/www.nature.com\/articles\/s41467-025-62327-3\">Route-centric ant-inspired memories enable panoramic route-following in a car-like robot<\/a>.\u00a0<em>Nature Communications<\/em>,\u00a0<em>16<\/em>(1), 8328.<br>DOI : <a href=\"https:\/\/doi.org\/10.1038\/s41467-025-62327-3\">10.1038\/s41467-025-62327-3<\/a><br>HAL : <a href=\"https:\/\/hal.science\/hal-04820343\/\">hal-04820343<\/a><br>YT : <a href=\"https:\/\/www.youtube.com\/watch?v=6YIkDhN4SaY\">https:\/\/www.youtube.com\/watch?v=6YIkDhN4SaY<\/a><\/li>\n\n\n\n<li>Gattaux, G. G., <strong>Serres, J. R.<\/strong>, Ruffier, F., Wystrach, A. (2025). <a href=\"https:\/\/hal.science\/hal-05160353v1\" data-type=\"link\" data-id=\"https:\/\/hal.science\/hal-05160353v1\">Visual Homing in Outdoor Robots Using Mushroom Body Circuits and Learning Walks<\/a>. <em>The 14th International Conference on Biomimetics and Biohybrid Systems, Living Machines 2025<\/em>.<br>15-18 July 2025, Sheffield, United Kingdom<br>HAL: <a href=\"https:\/\/hal.science\/hal-05160353v1\">hal-05160353v1<\/a><br>YT: <a href=\"https:\/\/www.youtube.com\/watch?v=2pZ1nTxyf2k\">https:\/\/www.youtube.com\/watch?v=2pZ1nTxyf2k<\/a><\/li>\n\n\n\n<li>Gattaux, G., Wystrach, A., Ruffier, F., &amp; <strong>Serres, J. R.<\/strong> (2025). Enhancing Ant-Inspired Visual Compass with Focused Visual Scan in a Compact Robot. In <em>The 7th IEEE International Conference on Artificial Intelligence Circuits and Systems<\/em> (pp.110-114), 28-30 April, Bordeaux, France.<br>HAL: <a href=\"https:\/\/hal.science\/hal-05055159v1\">hal-05055159v1<\/a> (proceeding)<br>YT: <a href=\"https:\/\/www.youtube.com\/watch?v=iRewX9KLJDQ\">https:\/\/www.youtube.com\/watch?v=iRewX9KLJDQ<\/a><\/li>\n\n\n\n<li>Gattaux, G., Wystrach, A., <strong>Serres, J. R.<\/strong>, &amp; Ruffier, F. (2024). <a href=\"https:\/\/hal.science\/hal-04820343\/\">Continuous Visual Navigation with Ant-Inspired Memories<\/a>.<br>Preprint HAL.<br>HAL: <a href=\"https:\/\/hal.science\/hal-04820343\/\">hal-04820343<\/a><br>Gattaux, G., Vimbert, R., Wystrach, A., <strong>Serres, J. R.<\/strong>, &amp; Ruffier, F. (2023). <a href=\"https:\/\/hal.science\/hal-04060451\/\">Antcar: simple route following task with ants-inspired vision and neural model<\/a>. Preprint HAL.<br>HAL: <a href=\"https:\/\/hal.science\/hal-04060451\/\">hal-04060451<\/a><\/li>\n<\/ul>\n<\/div>\n\n\n\n<div class=\"wp-block-group has-light-background-color has-background is-layout-flow wp-block-group-is-layout-flow\">\n<p class=\"has-grey-color has-text-color\"><strong>Brevet :<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list publicationsList\">\n<li><strong>Serres, J. R.<\/strong>, Gattaux, G., Ruffier, F, &amp; Wystrach, A. <a href=\"https:\/\/data.inpi.fr\/brevets\/FR3151085?q=2307407#FR3151085\" data-type=\"link\" data-id=\"https:\/\/data.inpi.fr\/brevets\/FR3151085?q=2307407#FR3151085\">Proc\u00e9d\u00e9 de guidage vers une destination<\/a>. (2025). Patent FR3151085 \/ WO2025012244A1, January 17.<\/li>\n<\/ul>\n<\/div>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\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=\"Enhancing Ant-Inspired Route Following with Focused Visual Scan in a Compact Robot\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/iRewX9KLJDQ?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 class=\"wp-element-caption\">IEEE AICAS 2025 \u00ab\u00a0Enhancing Ant-Inspired Route Following with Focused Visual Scan in a Compact Robot\u00a0\u00bb.<\/figcaption><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>AntCar, un v\u00e9hicule de type voiture capable de suivre des itin\u00e9raires appris visuellement au moyen d&rsquo;images panoramiques de 44&#215;44 pixels mimant l&rsquo;acuit\u00e9 visuelle des fourmis (5\u00b0 par pixel).<\/p>\n","protected":false},"author":1,"featured_media":2913,"parent":110,"menu_order":10,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-2950","page","type-page","status-publish","has-post-thumbnail","hentry","entry"],"_links":{"self":[{"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/pages\/2950","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=2950"}],"version-history":[{"count":15,"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/pages\/2950\/revisions"}],"predecessor-version":[{"id":3168,"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/pages\/2950\/revisions\/3168"}],"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\/2913"}],"wp:attachment":[{"href":"https:\/\/serres-lab.com\/fr\/wp-json\/wp\/v2\/media?parent=2950"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}