Brief Biography
- I am a third-year PhD candidate working at LIRMM - University of Montpellier II and at the laboratory CNRS-I3S.
- My PhD thesis is co-supervised by Andrew COMPORT (CNRS-I3S) and Abderrahmane KHEDDAR (LIRMM, CNRS-AIST JRL).
- Member of the Robot Vision team.
Background and Position
- 2014-present: PhD student at LIRMM and CNRS-I3S. Main topics include Dense Visual SLAM applied in the context of closed-loop control of humanoid robots.
- June 2015: Participation to the DARPA Robotics Challenge (DRC) competition, as part of AIST-NEDO team.
- 2011-2014: Master's degree in Computer Science at the University of Polytech'Nice Sophia Antipolis with major in Computer Vision.
- 2014: Final Year Project: Augmented reality for Visual SLAM visualization on VR Headsets
- 2013: Internship in Scanning Tunelling Spectroscopy at the CRANN Institute Dublin
- 2012-2013: Exchange Student at Trinity College Dublin studying M.Sc. in Interactive Entertainment Technology (Computer Vision and Graphics).
- 2009-2011: CGPE (Classe Préparatoire aux Grandes Ecoles) with major in MPSI (Math Physics and Engineering Sciences).
Research Areas
My research focuses on Dense Visual SLAM and its use in the context of Humanoid Robotics. Several challenges arise from the intersection of both fields, such as real-time localization of the robot within unknown environment, planning locomotion and manipulation wrt that environment, robot calibration, and closed-loop control of complex multi-contact controllers, with a focus on the use of quadratic programs (QP Controllers).
Selected Publications
- Closed-loop RGB-D SLAM multi-contact control for humanoid robots A Tanguy, P Gergondet, AI Comport, A Kheddar, System Integration (SII), 2016 IEEE/SICE International Symposium on, 51-57 [Video]