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Research topics
I am researcher with the NeCS project-team. My interest mainly lies in control and real-time processing co-design, including software architectures for process control, robotics and embedded real-time systems.

Beyond the traditionnal approach based on a separation of concern between control and real-time computing, a better integration between these two disciplines is necessary to cope with the constraints involved in embedded systems and mobile devices. Among the various aspects of real-time, one of prime interest is the scheduling policy used to implement the closed-loop control laws, which are mainly periodic. Feedback scheduling is an emerging scheduling method, where the scheduling parameters, such as the tasks period, is adapted on-line according to an application-dependent criterion. In particular, it is expected that this method will be efficient to schedule systems with timely uncertain repetitive behaviour, e.g., in visual servoing. Two pionnering sources about this topic are control lab. at Lund for the control side and University of Virginia for the computing side.

We are developing ORCCAD, a software environment aimed to design, verify, simulate and generate real-time code for complex robotic applications. You can find here a brief presentation and current state of Orccad. It is jointly developed with SED engineers at Inria Rhone-Alpes.

I was involved in Safe-NECS, an ANR funded collaborative project dealing with the coordinated design of safe distributed control systems, in which a testbed will be a quadrirotor aerial drone developed at GIPSA-lab. Another starting project is ARAVIS where control loops will be deeply integrated in high density silicon chips, and the integration of control capabilities both in operating systems and web 2012-01-30services is the topic of an ongoing cooperation with the SARDES team.

For a long time my favorite application field has been Underwater Robotics which led to several collaborative projects with the Robotics Service (PRAO) at Ifremer: within this application field the CONNECT project (funded by the ANR) is working on the topic of controlling multi-agent systems gathering underwater, surface and aerial autonomous vehicles.

I am also involved in the IST FP7 project FeedNetBack, in particular within the "Control and Computing Co-design" workpackage.

Here are some selected publications.

Any question?

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Educational Background
I graduated as Engineer from Ecole Nationale Supérieure de Mécanique et Microtechniques , Besançon (1976) and as Doctor-engineer from Université de Franche-Comté with the L.A.B. (1980). I graduated in 1998 for the "Habilitation a Diriger des Recherches" at Université de Nice Sophia-Antipolis.

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Last modified 2012-01-30