Scientific Diffusion

Conference Paper

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…

Conference Paper

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…

Conference Paper

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…

Conference Paper

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…

Conference Paper

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…

Journal Article

Thanh Tuan Nguyen, Hoang Anh Pham, Thanh Phuong Nguyen, Thinh Vinh Le, Hoai Nam Vu, Van-Dung Hoang