Franck Ruffier

148
Documents

Publications

Publications

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Guaranteed Self‐Triggered Control of Disturbed Systems: A Set Invariance Approach

Florian Pouthier , Sylvain Durand , Nicolas Marchand , Jonathan Dumon , Abdoullah Ndoye et al.
International Journal of Robust and Nonlinear Control, 2025, 35 (15), pp.6429-6443. ⟨10.1002/rnc.8060⟩
Article dans une revue hal-05105420 v1
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Netting and Background Distinction with In-Flight Optic Flow

Xavier Daïni , Romain Raffin , Thibaut Raharijaona , Franck Ruffier
Journal of Bionic Engineering, 2025, 22 (3), pp.1143-1166. ⟨10.1007/s42235-025-00677-w⟩
Article dans une revue hal-04966013 v2
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Flying in air ducts

Thomas Martin , Adrien Guénard , Vladislav Tempez , Lucien Renaud , Thibaut Raharijaona et al.
npj Robotics, 2025, 3 (16), ⟨10.1038/s44182-025-00032-5⟩
Article dans une revue hal-04775869 v2
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Visual collective behaviors on spherical robots

Diego Castro , Christophe Eloy , Franck Ruffier
Bioinspiration and Biomimetics, In press, 20 (2), ⟨10.1088/1748-3190/adaab9⟩
Article dans une revue hal-04775857 v2
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Modeling collective behaviors from optic flow and retinal cues

Diego Castro , Franck Ruffier , Christophe Eloy
Physical Review Research, 2024, 6 (2), pp.023016. ⟨10.1103/PhysRevResearch.6.023016⟩
Article dans une revue hal-04569967 v2
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Route-Centric Ant-Inspired Memories Enable Panoramic Route-Following in a Car-like Robot

Gabriel Gattaux , Antoine Wystrach , Julien R Serres , Franck Ruffier
Nature Communications, In press, 16 (1), pp.8328. ⟨10.1038/s41467-025-62327-3⟩
Article dans une revue hal-04820343 v2
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Synchronization of a New Light-Flashing Shield With an External-Triggered Camera

José de Jesus Castillo-Zamora , Amaury Nègre , Jean-Marc Ingargiola , Abdoullah Ndoye , Florian Pouthier et al.
IEEE Sensors Letters, 2023, 7 (8), pp.6500104. ⟨10.1109/LSENS.2023.3300823⟩
Article dans une revue hal-04188530 v1
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Visual augmentation of deck-landing-ability improves helicopter ship landing decisions

Mathieu Thomas , Julien R Serres , Thomas Rakotomamonjy , Franck Ruffier , Antoine H P Morice
Scientific Reports, 2023, 13 (1), pp.5119. ⟨10.1038/s41598-022-26770-2⟩
Article dans une revue hal-04054227 v1
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Indoor and outdoor in-flight odometry based solely on optic flows with oscillatory trajectories

Lucia Bergantin , C Coquet , Jonathan Dumon , Amaury Nègre , Thibaut Raharijaona et al.
International Journal of Micro Air Vehicles, 2023, 15, ⟨10.1177/17568293221148380⟩
Article dans une revue hal-03931424 v1
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Accommodating unobservability to control flight attitude with optic flow

Guido C H E de Croon , Julien J G Dupeyroux , Christophe de Wagter , Abhishek Chatterjee , Diana A Olejnik et al.
Nature, 2022, 610, pp.485 - 490. ⟨10.1038/s41586-022-05182-2⟩
Article dans une revue hal-03821869 v1
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Floor and ceiling mirror configurations to study altitude control in honeybees

Julien Serres , Antoine Morice , Constance Blary , Romain Miot , Gilles Montagne et al.
Biology Letters, 2022, 18 (3), 7 p. ⟨10.1098/rsbl.2021.0534⟩
Article dans une revue hal-03614115 v1
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Sparse deep predictive coding captures contour integration capabilities of the early visual system

Victor Boutin , Angelo Franciosini , Frederic Chavane , Franck Ruffier , Laurent U Perrinet
PLoS Computational Biology, 2021, 17 (1), pp.e1008629. ⟨10.1371/journal.pcbi.1008629⟩
Article dans une revue hal-03223069 v1
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Signal-Based Self-Organization of a Chain of UAVs for Subterranean Exploration

Pierre Laclau , Vladislav Tempez , Franck Ruffier , Enrico Natalizio , Jean-Baptiste Mouret
Frontiers in Robotics and AI, 2021, 8, ⟨10.3389/frobt.2021.614206⟩
Article dans une revue hal-03209269 v1
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Oscillations make a self-scaled model for honeybees' visual odometer reliable regardless of flight trajectory

Lucia Bergantin , Nesrine Harbaoui , Thibaut Raharijaona , Franck Ruffier
Journal of the Royal Society Interface, 2021, 18 (182), pp.20210567. ⟨10.1098/rsif.2021.0567⟩
Article dans une revue hal-03358332 v1
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Sparse deep predictive coding captures contour integration capabilities of the early visual system

Victor Boutin , Angelo Franciosini , Frédéric Chavane , Franck Ruffier , Laurent Perrinet
PLoS Computational Biology, 2021, 17, ⟨10.1371/journal.pcbi.1008629⟩
Article dans une revue hal-03441841 v1
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Method of reconstructing the wingbeat movement from the body pitch data of an ornithopter

Sabrine Samorah Laki , Abdoullah Ndoye , Edwin van Ruymbeke , Romain Miot , Franck Ruffier
Computer Methods in Biomechanics and Biomedical Engineering, 2021, 24 (Sup 1), pp.S264 - S266. ⟨10.1080/10255842.2021.1978758⟩
Article dans une revue hal-03466678 v1
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Ecological design of augmentation improves helicopter ship landing maneuvers: An approach in augmented virtuality

Antoine H. P. Morice , Thomas Rakotomamonjy , Julien Serres , Franck Ruffier
PLoS ONE, 2021, 16 (8), pp.e0255779. ⟨10.1371/journal.pone.0255779⟩
Article dans une revue hal-03320154 v1
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Ornithopter’s intra-flapping body pitch highly depends on wingbeat frequency

Abdoullah Ndoye , Sabrine Samorah Laki , Romain Miot , Edwin van Ruymbeke , Franck Ruffier
Computer Methods in Biomechanics and Biomedical Engineering, 2021, 46th CONGRESS OF THE SOCIÉTÉ DE BIOMÉCANIQUE, 24 (Sup 1), pp.S101-S103. ⟨10.1080/10255842.2021.1978758⟩
Article dans une revue hal-03466692 v2
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Helicopter pilots synchronize their altitude with ship heave to minimize energy when landing on a ship's deck

Mathieu Thomas , José Marcio Pereira Figueira , Julien R. Serres , Thomas Rakotomamonjy , Franck Ruffier et al.
The International Journal of Aerospace Psychology, In press, ⟨10.1080/24721840.2020.1862659⟩
Article dans une revue hal-03082645 v2
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A biphasic navigational strategy in loggerhead sea turtles

Paolo Luschi , Dogan Sözbilen , Giulia Cerritelli , Franck Ruffier , Eyup Başkale et al.
Scientific Reports, 2020, 10, ⟨10.1038/s41598-020-75183-6⟩
Article dans une revue hal-02986708 v1
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Effect of Top-Down Connections in Hierarchical Sparse Coding

Victor Boutin , Angelo Franciosini , Franck Ruffier , Laurent Perrinet
Neural Computation, 2020, 32 (11), pp.2279-2309. ⟨10.1162/neco_a_01325⟩
Article dans une revue hal-02986570 v1
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A Bio-inspired Sighted Robot Chases like a Hoverfly

Fabien Colonnier , Soledad Ramirez-Martinez , Stéphane Viollet , Franck Ruffier
Bioinspiration and Biomimetics, 2019, ⟨10.1088/1748-3190/aaffa4⟩
Article dans une revue hal-01964636 v1
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Informational Framework for Minimalistic Visual Odometry on Outdoor Robot

Joelle Al Hage , Stefano Mafrica , Maan El Badaoui El Najjar , Franck Ruffier
IEEE Transactions on Instrumentation and Measurement, 2019, 68 (8), pp.2988-2995. ⟨10.1109/TIM.2018.2871228⟩
Article dans une revue hal-01894435 v1
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Optic flow cues help explain altitude control over sea in freely flying gulls

Julien Serres , Thomas J Evans , Susanne Akesson , Olivier Duriez , Judy Shamoun-Baranes et al.
Journal of the Royal Society Interface, 2019, 16 (159), pp.20190486. ⟨10.1098/rsif.2019.0486⟩
Article dans une revue hal-02309725 v2
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Robotic-flapper maneuvers and fruitfly turns

Franck Ruffier
Science, 2018, 361 (6407), pp.1073 - 1074. ⟨10.1126/science.aau7350⟩
Article dans une revue hal-01876298 v1
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Optic flow-based collision-free strategies: From insects to robots

Julien Serres , Franck Ruffier
Arthropod Structure and Development, 2017, 46 (5), pp.703 - 717. ⟨10.1016/j.asd.2017.06.003⟩
Article dans une revue hal-01644523 v1
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Microdrones bio-inspirés

Julien Serres , Stéphane Viollet , Franck Ruffier
Les Techniques de l'Ingenieur, 2017, pp.S7717 V1
Article dans une revue hal-01574508 v1
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Time-of-Travel Methods for Measuring Optical Flow on Board a Micro Flying Robot

Erik Vanhoutte , Stefano Mafrica , Franck Ruffier , Reinoud J. Bootsma , Julien Serres
Sensors, 2017, 17 (3), pp.571. ⟨10.3390/s17030571⟩
Article dans une revue hal-01551122 v1
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Altitude control in honeybees: joint vision-based learning and guidance

Geoffrey Portelli , Julien Serres , Franck Ruffier
Scientific Reports, 2017, 7 (1), ⟨10.1038/s41598-017-09112-5⟩
Article dans une revue hal-01644531 v1

Minimalistic optic flow sensors applied to indoor and outdoor visual guidance and odometry on a car-like robot

Stefano Mafrica , Alain Servel , Franck Ruffier
Bioinspiration and Biomimetics, 2016, 11 (6), pp.1-18. ⟨10.1088/1748-3190/11/6/066007⟩
Article dans une revue hal-01454792 v1
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A Shape-Adjusted Tridimensional Reconstruction of Cultural Heritage Artifacts Using a Miniature Quadrotor

Theo Louiset , Anthony Pamart , Eloi Gattet , Thibaut Raharijaona , Livio De Luca et al.
Remote Sensing, 2016, 8 (10), pp.858. ⟨10.3390/rs8100858⟩
Article dans une revue hal-01454793 v1
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Sub-optimal Lunar Landing GNC using Non-gimbaled Bio-inspired Optic Flow Sensors

Guillaume Sabiron , Thibaut Raharijaona , Laurent Burlion , Erwan Kervendal , Eric Bornschlegl et al.
IEEE Transactions on Aerospace and Electronic Systems, 2015, IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, 51 (4), pp.2525 - 2545. ⟨10.1109/TAES.2015.130573⟩
Article dans une revue hal-01270504 v1
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Biomimetic Autopilot Based on Minimalistic Motion Vision for Navigating along Corridors Comprising U-shaped and S-shaped Turns

Julien Serres , Franck Ruffier
Journal of Bionic Engineering, 2015, 12 (1), pp.47 - 60. ⟨10.1016/S1672-6529(14)60099-8⟩
Article dans une revue hal-01108274 v1
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X4-MaG: a low-cost open-source micro-quadrotor and its Linux-based controller

Augustin Manecy , Nicolas Marchand , Franck Ruffier , Stéphane Viollet
International Journal of Micro Air Vehicles, 2015, 7 (2), pp.89-109. ⟨10.1260/1756-8293.7.2.89⟩
Article dans une revue hal-01099975 v1
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Flying over uneven moving terrain based on optic-flow cues without any need for reference frames or accelerometers

Fabien Expert , Franck Ruffier
Bioinspiration and Biomimetics, 2015, 10, pp.26003 - 26003. ⟨10.1088/1748-3190/10/2/026003⟩
Article dans une revue hal-01771748 v1
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A Bio-Inspired Analog Silicon Retina with Michaelis-Menten Auto-Adaptive Pixels Sensitive to Small and Large Changes in Light

Stefano Mafrica , Stéphanie Godiot , Mohsine Menouni , Marc Boyron , Fabien Expert et al.
Optics Express, 2015, 23 (5), pp.5614-5635. ⟨10.1364/OE.23.005614⟩
Article dans une revue hal-01099946 v1

Optic Flow Regulation in Unsteady Environments: A Tethered MAV Achieves Terrain Following and Targeted Landing Over a Moving Platform

Franck Ruffier , Nicolas Franceschini
Journal of Intelligent and Robotic Systems, 2015, 79 (2), pp.275-293. ⟨10.1007/s10846-014-0062-5⟩
Article dans une revue hal-01414071 v1
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A biomimetic vision-based hovercraft accounts for bees' complex behaviour in various corridors

Frédéric L. Roubieu , Julien R. Serres , Fabien Colonnier , Nicolas Franceschini , Stéphane Viollet et al.
Bioinspiration and Biomimetics, 2014, 9 (3), pp.36003 - 36003. ⟨10.1088/1748-3182/9/3/036003⟩
Article dans une revue hal-01446797 v1
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Hardware Architecture and Cutting-Edge Assembly Process of a Tiny Curved Compound Eye

Stéphane Viollet , Stéphanie Godiot , Robert Leitel , Wolfgang Buss , Patrick Breugnon et al.
Sensors, 2014, 14 (11), pp.21702-21721. ⟨10.3390/s141121702⟩
Article dans une revue hal-01446798 v1
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A two-directional 1-gram visual motion sensor inspired by the fly's eye

Frédéric Roubieu , Fabien Expert , Guillaume Sabiron , Franck Ruffier
IEEE Sensors Journal, 2013, 13 (3), pp.1025-1035. ⟨10.1109/JSEN.2012.2230622⟩
Article dans une revue hal-00803881 v1
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Miniature curved artificial compound eyes.

Dario Floreano , Ramon Pericet-Camara , Stéphane Viollet , Franck Ruffier , Andreas Brückner et al.
Proceedings of the National Academy of Sciences of the United States of America, 2013, 110 (23), pp.9267-72. ⟨10.1073/pnas.1219068110⟩
Article dans une revue hal-00835031 v1

Special issue featuring selected papers from the International Workshop on Bio-Inspired Robots (Nantes, France, 6-8 April 2011)

Frédéric Boyer , Cesare Stefanini , Franck Ruffier , Stéphane Viollet
Bioinspiration and Biomimetics, 2012, 7 (2, SI), ⟨10.1088/1748-3182/7/2/020201⟩
Article dans une revue istex hal-01446802 v1
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Outdoor field performances of Insect-based visual motion sensors

Fabien Expert , Stéphane Viollet , Franck Ruffier
Journal of Field Robotics, 2011, 28 (4), pp.529-541. ⟨10.1002/rob.20398⟩
Article dans une revue hal-00712699 v1
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Honeybees' speed depends on dorsal as well as lateral, ventral and frontal optic flows

Geoffrey Portelli , Franck Ruffier , Frédéric L. Roubieu , Nicolas Franceschini
PLoS ONE, 2011, 6 (5), pp.e19486
Article dans une revue hal-00743523 v1
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Modelling honeybee visual guidance in a 3-D environment

G. Portelli , Julien Serres , F. Ruffier , N. Franceschini
Journal of Physiology - Paris, 2010, 104 (1-2), pp.27-39. ⟨10.1016/j.jphysparis.2009.11.011⟩
Article dans une revue hal-02010550 v1

Guest editorial: Visual guidance systems for small Unmanned Aerial Vehicles

Stéphane Viollet , Franck Ruffier
Autonomous Robots, 2009, 27 (3), pp.145-146. ⟨10.1007/s10514-009-9128-9⟩
Article dans une revue istex hal-01446806 v1
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A bee in the corridor: centering and wall-following

Julien Serres , Guillaume P. Masson , Franck Ruffier , Nicolas Franceschini
The Science of Nature Naturwissenschaften, 2008, 95 (12), pp.1181-1187. ⟨10.1007/s00114-008-0440-6⟩
Article dans une revue istex hal-02294572 v1
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A vision-based autopilot for a miniature air vehicle: joint speed control and lateral obstacle avoidance

Julien Serres , D Dray , F. Ruffier , N. Franceschini
Autonomous Robots, 2008, 25 (1-2), pp.103-122. ⟨10.1007/s10514-007-9069-0⟩
Article dans une revue hal-01758721 v1
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A Bio-Inspired Flying Robot Sheds Light on Insect Piloting Abilities

Nicolas Franceschini , Franck Ruffier , Julien Serres
Current Biology, 2007, 17 (4), pp.329-335. ⟨10.1016/j.cub.2006.12.032⟩
Article dans une revue hal-02295687 v1

A miniature bio-inspired optic flow sensor based on low temperature co-fired ceramics (LTCC) technology

Marko Pudas , Stéphane Viollet , Franck Ruffier , Arvi Kruusing , Stephane Arnic et al.
Sensors and Actuators A: Physical , 2007, 133 (1), pp.88-95. ⟨10.1016/j.sna.2006.03.013⟩
Article dans une revue istex hal-01446807 v1
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Optic flow based autopilot: From insects to rotorcraft and back

N. Franceschini , F. Ruffier , Julien Serres
Comparative Biochemistry and Physiology - Part A: Molecular and Integrative Physiology, 2007, 146 (4), pp.S133. ⟨10.1016/j.cbpa.2007.01.255⟩
Article dans une revue hal-02295426 v1
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Toward optic flow regulation for wall-following and centring behaviours

Julien Serres , Franck Ruffier , Stéphane Viollet , Nicolas Franceschini
International Journal of Advanced Robotic Systems, 2006, 3 (2), pp.23. ⟨10.5772/5744⟩
Article dans une revue hal-02295717 v1
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Visual Homing in Outdoor Robots Using Mushroom Body Circuits and Learning Walks

Gabriel G Gattaux , Julien R Serres , Franck Ruffier , Antoine Wystrach
The 14th International Conference on Biomimetics and Biohybrid Systems, Living Machines, University of Sheffield, Jul 2025, Sheffield, United Kingdom
Communication dans un congrès hal-05160353 v1
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Dynamical Model and Tracking Controller for a Novel Flapping Wing Drone Platform

Jossué Cariño Escobar , Lina Le-Guellec , Edwin Van Ruymbeke , Nicolas Marchand , Thomas Engels et al.
2025 International Conference on Unmanned Aircraft Systems (ICUAS), May 2025, Charlotte, NC, United States. ⟨10.1109/ICUAS65942.2025.11007922⟩
Communication dans un congrès hal-05001130 v2
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VIGS-Fusion: Fast Gaussian Splatting SLAM processed onboard a small quadrirotor

Abdoullah Ndoye , Amaury Nègre , Nicolas Marchand , Franck Ruffier
ICAR ( International Conference on Advanced Robotics), Dec 2025, San Juan, Argentina
Communication dans un congrès hal-05192786 v1
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Enhancing Ant-Inspired Visual Compass with Focused Visual Scan in a Compact Robot

Gabriel Gattaux , Antoine Wystrach , Franck Ruffier , Julien Serres
The 7th IEEE International Conference on Artificial Intelligence Circuits and Systems, University of Bordeaux, Apr 2025, Bordeaux, France. pp.110-114, ⟨10.1109/AICAS64808.2025.11173128⟩
Communication dans un congrès hal-05055159 v1

Are biological agents governed by similar visuo-motor mechanisms to fly?

Julien Serres , Mathieu Thomas , Aimie Berger Dauxère , Thomas Rakotomamonjy , Gilles Montagne et al.
The XXI International Conference on Perception and Action (ICPA), Pablo Covarrubias and Ángel A. Jiménez (Co-Chairs) – University of Guadalajara, Mexico; William H. Warren (ISEP President) – Brown University, USA; Julia J. C. Blau (ICPA Treasurer) – Central Connecticut State University, USA, Jun 2023, Guadalajara, Mexico
Communication dans un congrès hal-04145171 v1
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Safety Net Detection by Optic Flow Processing

Xavier Daini , Charles Coquet , Romain Raffin , Thibaut Raharijaona , Franck Ruffier
2023 International Conference on Unmanned Aircraft Systems (ICUAS ’23), Kimon Valavanis; Anna Konert; YangQuan Chen; Andrea Monteriù, Jun 2023, Warsaw, Poland. pp.32-39, ⟨10.1109/ICUAS57906.2023.10156597⟩
Communication dans un congrès hal-04139578 v1
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Vector Field Aided Trajectory Tracking by a 10-gram Flapping-Wing Micro Aerial Vehicle

Abdoullah Ndoye , José de Jesus Castillo-Zamora , Sabrine Samorah Laki , Romain Miot , Edwin van Ruymbeke et al.
IEEE International Conference on Robotics and Automation (ICRA 2023), IEEE, May 2023, Londres, United Kingdom
Communication dans un congrès hal-03831115 v2
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Minimalistic in-flight odometry based on two optic flow sensors along a bouncing trajectory

Lucia Bergantin , Charles Coquet , Amaury Nègre , Thibaut Raharijaona , Nicolas Marchand et al.
ICCAS 2022 - 22nd IEEE International Conference on Control, Automation and Systems (ICCAS), Nov 2022, Busan, South Korea. ⟨10.23919/ICCAS55662.2022.10003956⟩
Communication dans un congrès hal-03791733 v1

Corridor 3D Navigation of a Fully-Actuated Multirotor by Means of Bee-Inspired Optic Flow Regulation

Jose J. Castillo-Zamora , Lucia Bergantin , Franck Ruffier
2022 26TH INTERNATIONAL CONFERENCE ON SYSTEM THEORY, CONTROL AND COMPUTING (ICSTCC), 2022, Sinaia, Romania, Romania. pp.318-324, ⟨10.1109/ICSTCC55426.2022.9931809⟩
Communication dans un congrès hal-03989721 v1
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Corridor 3D Navigation of a Fully-Actuated Multirotor by Means of Bee-Inspired Optic Flow Regulation

José de Jesus Castillo-Zamora , Lucia Bergantin , Franck Ruffier
International Conference on System Theory, Control and Computing 2022, Oct 2022, Sinaia, Romania
Communication dans un congrès hal-03787949 v1
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Using trajectory oscillation timing improves in-flight odometry based solely on optic flows

Lucia Bergantin , Charles Coquet , Amaury Nègre , Raharijoana Thibault Raharijoana , Nicolas Marchand et al.
IMAV 2022 - 13th international micro air vehicle conference (IMAV), Sep 2022, Delft, Netherlands
Communication dans un congrès hal-03788528 v2
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Estimation of the distance from a surface based on local optic flow divergence

Lucia Bergantin , Thibaut Raharijaona , Franck Ruffier
2021 International Conference On Unmanned Aircraft Systems (ICUAS'21), Jun 2021, Athens, Greece. ⟨10.1109/ICUAS51884.2021.9476751⟩
Communication dans un congrès hal-03293482 v1
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Perceptual-motor coupling between Helicopter and ship during ship deck landing maneuvers

Thomas Mathieu , José M Pereira Figueira , Julien R. Serres , Thomas Rakotomamonjy , Franck Ruffier et al.
The 1st International Conference on Cognitive Aircraft Systems – ICCAS, Mar 2020, Toulouse, France. ⟨10.34849/cfsb-t270⟩
Communication dans un congrès hal-03112084 v1
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Bird-inspired foot and limb for perching drones preliminary considerations

Damien Horsin , Anick Abourachid , Micky Rakotondrabe , Franck Ruffier , Thibaut Raharijaona
International Workshop on Bionic Engineering - IWBE, Jun 2020, Manchester, United Kingdom. pp.1-2
Communication dans un congrès hal-03103963 v1
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Honeybees flying over a mirror crash irremediably

Julien Serres , Antoine H P Morice , Constance Blary , Gilles Montagne , Frank Ruffier
4th International Conference on Invertebrate Vision (ICIV), Eric Warrant; Dan-Eric Nilsson; Lina O’Reilly; Therese Reber, Aug 2019, Bäckaskog, Sweden. pp.260, ⟨10.13140/RG.2.2.24911.00162⟩
Communication dans un congrès hal-03453381 v1
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The scale of virtual environment influences human perception of distance

Antoine H.P. Morice , Victor Garruchet , Nessrine Harbaoui , Cedric Goulon , Martin Bossard et al.
Journées Françaises d'Informatique Graphique et de Réalité Virtuelle, Nov 2019, Marseille, France
Communication dans un congrès hal-03039203 v1
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On the functional nature of perceptual-motor coupling during ship deck landing maneuvers

Mathieu Thomas , José M Pereira Figueira , Julien Serres , Thomas Rakotomamonjy , Franck Ruffier et al.
Journées Françaises d'Informatique Graphique et de Réalité Virtuelle, Nov 2019, Marseille, France
Communication dans un congrès hal-03039183 v1
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A Quasi-panoramic Bio-inspired Eye for Flying Parallel to Walls

Erik Vanhoutte , Julien Serres , Franck Ruffier
IEEE Sensors 2017, Oct 2017, Glasgow, United Kingdom. paper ID 1332, ⟨10.1109/ICSENS.2017.8234110⟩
Communication dans un congrès hal-01629291 v1
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Hexabot: a small 3D-printed six-legged walking robot designed for desert ant-like navigation tasks

Julien Dupeyroux , Grégoire Passault , Franck Ruffier , Stéphane Viollet , Julien Serres
IFAC Word Congress 2017, Jul 2017, Toulouse, France
Communication dans un congrès hal-01643176 v1
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Toward an insect-inspired event-based autopilot combining both visual and control events

Thibaut Raharijaona , Julien Serres , E Vanhoutte , Franck Ruffier
International Conference on Event-Based Control, Communication and Signal Processing, May 2017, Funchal, Portugal. ⟨10.1109/EBCCSP.2017.8022822⟩
Communication dans un congrès hal-01528589 v1
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A honeybee's navigational toolkit on Board a Bio-inspired Micro Flying Robot

Erik Vanhoutte , Franck Ruffier , Julien Serres
The 9th International Micro Air Vehicle Conference and Competition (IMAV), Sep 2017, Toulouse, France. pp.136-142
Communication dans un congrès hal-01593819 v1
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X-Morf: a crash-separable quadrotor that morfs its X-geometry in flight

A Desbiez , F. Expert , M Boyron , J Diperi , S. Viollet et al.
RED UAS 2017- Research, Education and Development of Unmanned Aerial Systems, Oct 2017, Linkoping, Sweden
Communication dans un congrès hal-01644528 v1

TOWARD AN ADVANCED INFORMATIONAL FRAMEWORK FOR IMPROVING MINIMALISTIC VISUAL ODOMETRY

Joelle Al Hage , Stephano Mafrica , Maan El Badaoui El Najjar , Franck Ruffier
ASTRA 2017, ESA, Jun 2017, Leiden, Netherlands
Communication dans un congrès hal-01741324 v1
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Optic-Flow Based Car-Like Robot Operating in a 5-Decade Light Level Range

Stefano Mafrica , Alain Servel , Franck Ruffier
IEEE International Conference on Robotics and Automation (ICRA 2016), IEEE, May 2016, Stockholm, Sweden
Communication dans un congrès hal-01322837 v1
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Event-based visual guidance inspired by honeybees in a 3D tapered tunnel

Julien Serres , T Raharijaona , E Vanhoutte , F Ruffier
Second International Conference on Event-Based Control, Communication and Signal Processing EBCCSP 2016, Jun 2016, Krakow, Poland, France. ⟨10.1109/EBCCSP.2016.7605273⟩
Communication dans un congrès hal-01332819 v1
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Towards an Automatic Parking System using Bio-Inspired 1-D Optical Flow Sensors

Stefano Mafrica , Alain Servel , Franck Ruffier
IEEE International Conference on Vehicular Electronics and Safety (ICVES) 2015, Nov 2015, Yokohama, Japan
Communication dans un congrès hal-01235593 v1

X4-MaG and RT-MaG: a low-cost open-source micro-quadrotor based on Real-Time Linux and a new Matlab/Simulink toolbox

Augustin Manecy , E. Vanhoutte , Stefano Mafrica , F. Colonnier , Franck Ruffier et al.
IROS 2015 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2015, Hambourg, Germany
Communication dans un congrès hal-01242014 v1
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Backup State Observer Based on Optic Flow Applied to Lunar Landing

Guillaume Sabiron , Laurent Burlion , Grégory Jonniaux , Erwan Kervendal , Eric Bornschlegl et al.
IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2014, Chicago, United States
Communication dans un congrès hal-01021322 v1
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Optic Flow-Based Nonlinear Control and Sub-optimal Guidance for Lunar Landing

Guillaume Sabiron , Laurent Burlion , Thibaut Raharijaona , Franck Ruffier
IEEE International Conference on Robotics and Biomimetics, Dec 2014, Bali, Indonesia
Communication dans un congrès hal-01079488 v1
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Event-based speed control on a sensor-less miniature thruster

Thibaut Raharijaoana , Lorris Dola , Bruno Boisseau , John Jairo Martinez Molina , Nicolas Marchand et al.
AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Jul 2014, Besançon, France. pp.n/c
Communication dans un congrès hal-00982430 v1
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Low-speed optic-flow sensor onboard an unmanned helicopter flying outside over fields

Guillaume Sabiron , Paul Chavent , Thibaut Raharijaona , Patrick Fabiani , Franck Ruffier
IEEE ICRA - IEEE International Conference on Robotics and Automation, May 2013, Karlsruhe, Germany
Communication dans un congrès hal-00820264 v1
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Toward an Autonomous Lunar Landing Based on Low-speed Optic Flow Sensors

Guillaume Sabiron , Paul Chavent , Laurent Burlion , Erwan Kervendal , Eric Bornschlegl et al.
EuroGNC - 2nd CEAS Specialist Conference on Guidance, Navigation & Control, Apr 2013, Delft, Netherlands. pp.993-1011
Communication dans un congrès hal-00820225 v1
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Visual motion sensing onboard a 50-g helicopter flying freely under complex VICON-lighting conditions

Franck Ruffier , Fabien Expert
IEEE International Conference on Complex Medical Engineering -CME-, Jul 2012, Kobe, Japan. pp.634-639
Communication dans un congrès hal-00714425 v1
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A fully-autonomous hovercraft inspired by bees: wall following and speed control in straight and tapered corridors

Frédéric L. Roubieu , Julien Serres , Nicolas Franceschini , Franck Ruffier , Stéphane Viollet
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012), Dec 2012, Guangzhou, China. pp.1311-1318, ⟨10.1109/ROBIO.2012.6491150⟩
Communication dans un congrès hal-00743129 v2
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CURVACE - CURVed Artificial Compound Eyes

R. Pericet-Camara , M. Dobrzynski , G. L'Eplattenier , J.-C. Zufferey , F. Expert et al.
Proceedings of the 2nd European Future Technologies Conference and Exhibition 2011 (FET 11), May 2011, Hamburg, Germany. pp.308-309, ⟨10.1016/j.procs.2011.09.040⟩
Communication dans un congrès in2p3-00660666 v1
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A novel 1-gram insect based device measuring visual motion along 5 optical directions

Frédéric L. Roubieu , Fabien Expert , Marc Boyron , Benoît-Jérémy Fuschlock , Stéphane Viollet et al.
Sensors, 2011 IEEE, Oct 2011, Limerick, Ireland. pp.687, ⟨10.1109/ICSENS.2011.6127157⟩
Communication dans un congrès hal-00716606 v1
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Controlling docking, altitude and speed in a circular high-roofed tunnel thanks to the optic flow

Fabien Expert , Franck Ruffier
IEEE International Conference on Intelligent Robots and Systems (IROS), Oct 2012, Vilamoura, Portugal. pp.1125-1132
Communication dans un congrès hal-00742401 v1
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Interpolation based "time of travel" scheme in a Visual Motion Sensor using a small 2D retina

Fabien Expert , Frédéric L. Roubieu , Franck Ruffier
IEEE Sensors Conference 2012, Oct 2012, Taïpei, Taiwan. pp.2231-2234
Communication dans un congrès hal-00748533 v1
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From bees’ surface following to lunar landing

Franck Ruffier , Geoffrey Portelli , Julien Serres , Thibaut Raharijaona , Nicolas Franceschini
International Workshop on Bio-inspired Robots, Apr 2011, Nantes, France
Communication dans un congrès hal-02194478 v1
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A mouse sensor and a 2-pixel motion sensor exposed to continuous illuminance changes

Fabien Expert , Stéphane Viollet , Franck Ruffier
IEEE Sensors, Oct 2011, Limerick, Ireland
Communication dans un congrès hal-00713577 v1

A tiny directional sound sensor inspired by crickets designed for micro-air vehicles

Franck Ruffier , Simon Benachio , Fabien Expert , Erick Ogam
IEEE Sensors 2011 conference, Oct 2011, Limerick, Ireland. pp.CDROM, ⟨10.1109/ICSENS.2011.6126978⟩
Communication dans un congrès hal-00654502 v1
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A bio-inspired robot accounts for insect behavior

Julien Serres , Franck Ruffier , Nicolas Franceschini
16th European Conference en Eye Movement (ECEM), Aug 2011, Marseille, France
Communication dans un congrès hal-02194432 v1
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Evidence for ventral optic flow regulation in honeybees

Geoffrey Portelli , Franck Ruffier , Nicolas Franceschini
Cinquième conférence plénière française de Neurosciences Computationnelles, "Neurocomp'10", Aug 2010, Lyon, France
Communication dans un congrès hal-00553445 v1

Biomimetic optic flow sensing applied to a lunar landing scenario

Florent Valette , Franck Ruffier , Stéphane Viollet , Tobias Seidl
2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2010, Unknown, Unknown Region. pp.2253-2260, ⟨10.1109/ROBOT.2010.5509364⟩
Communication dans un congrès hal-01446804 v1

Characteristics of Three Miniature Bio-inspired Optic Flow Sensors in Natural Environments

S. Viollet , F. Ruffier , T. Ray , M. Menouni , F. Aubépar et al.
2010 Fourth International Conference on Sensor Technologies and Applications, Jul 2010, Venise, Italy
Communication dans un congrès in2p3-00516261 v1

Neuromimetic Robots inspired by Insect Vision

Nicolas Franceschini , Stéphane Viollet , Franck Ruffier , Julien Serres
The 3rd International Conference “Smart, Materials, Structures and Systems” (CIMTEC), Aug 2008, Acireale, Scicily, Italy. pp.127-136
Communication dans un congrès hal-01446805 v1
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Insect inspired autopilots

Nicolas Franceschini , Franck Ruffier , Julien Serres
The International Symposium on Aero-aqua Bio-Mechanisms (ISABMEC), Aug 2009, Shangai, China
Communication dans un congrès hal-02195500 v1

Bio-inspired optic flow sensors and optic flow based autopilots

Nicolas Franceschini , Franck Ruffier , Julien Serres , Fabrice Aubépart
USA-China Workshop on bio-inspired smart systems: materials, mechanics, control and sensor innovation, Jul 2009, Dalian, China
Communication dans un congrès hal-02194530 v1
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Pilote automatique bio-inspiré pour la navigation en 3D

Geoffrey Portelli , Julien Serres , Franck Ruffier , Nicolas Franceschini
7ème Journées des Jeunes Chercheurs en Robotique (JJCR), Nov 2009, Neuvy-sur-Barangeon, France
Communication dans un congrès hal-02298966 v1
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3D Navigation With An Insect-Inspired Autopilot

Geoffrey Portelli , Julien Serres , Franck Ruffier , Nicolas Franceschini
Deuxième conférence française de Neurosciences Computationnelles, "Neurocomp08", Oct 2008, Marseille, France
Communication dans un congrès hal-00331566 v1
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A 3D insect-inspired visual autopilot for corridor-following

Geoffrey Portelli , Julien Serres , Franck Ruffier , Nicolas Franceschini
EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2008), Oct 2008, Scottsdale, United States. pp.19-26, ⟨10.1109/BIOROB.2008.4762816⟩
Communication dans un congrès hal-02294590 v1
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Pilote automatique bio-inspiré basé sur la vision du mouvement

Julien Serres , David Dray , Franck Ruffier , Nicolas Franceschini
6ème Manifestation des Jeunes Chercheurs en STIC, Oct 2008, Marseille, France
Communication dans un congrès hal-02298360 v1
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Combining sound and optic flow cues to reach a sound source despite lateral obstacles

F. Ruffier , T. Mukai , H. Nakashima , Julien Serres , N. Franceschini
2008 IEEE/SICE International Symposium on System Integration, Dec 2008, Nagoya, Japan. pp.89-94, ⟨10.1109/SI.2008.4770432⟩
Communication dans un congrès hal-02294544 v1
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From insects to robots and back

Nicolas Franceschini , Franck Ruffier , Julien Serres
2nd International Conference on Invertebrate Vision (ICIV), Aug 2008, Bäckaskog, Sweden
Communication dans un congrès hal-02195476 v1
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A bio-inspired optic flow based autopilot for guiding a miniature hovercraft in corridors

Julien Serres , David Dray , Franck Ruffier , Nicolas Franceschini
IEEE-IROS Workshop on Visual Guidance Systems for Small Autonomous Aerial, Sep 2008, Nice, France
Communication dans un congrès hal-02294457 v1
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Neuromimetic Robots inspired by Insect Vision

Nicolas Franceschini , Stéphane Viollet , Franck Ruffier , Julien Serres
3rd International Conference “Smart, Materials, Structures and Systems” (CIMTEC), Jun 2008, Acireale, Sicily, Italy
Communication dans un congrès hal-02296278 v1
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Un pilote automatique inspiré des insectes pour la navigation 3D dans un tunnel

G. Portelli , Julien Serres , F. Ruffier , N. Franceschini
4ème Journée de l'Ecole Doctorale Sciences du Mouvement Humain (JEDSMH), May 2008, Avignon, France
Communication dans un congrès hal-02298370 v1
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Insects as pilots: optic flow regulation for vertical and horizontal guidance

Nicolas Franceschini , Franck Ruffier , Julien Serres
The International Symposium on Flying Insects and Robots (FIR), Aug 2007, Ascona, Switzerland
Communication dans un congrès hal-02195516 v1
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Guidage visuel d'un aéroglisseur miniature dans un corridor

Julien Serres , Franck Ruffier , Nicolas Franceschini
6ème Journées Nationales de la Recherche en Robotique (JNRR), Oct 2007, Obernai, France
Communication dans un congrès hal-02298992 v1
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A bee in the corridor : Side-slip control autopilot

Geoffrey Portelli , Maëlle Ogier , Franck Ruffier , Julien Serres , Nicolas Franceschini
The International Symposium on Flying Insects and Robots (FIR), Aug 2007, Ascona, Switzerland
Communication dans un congrès hal-02195537 v1
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Vision based autopilot in flies

Nicolas Franceschini , Franck Ruffier , Julien Serres
Keynote lecture at "Visual Processing in Insects: From Anatomy to Behavior", Janelia Farm Research Campus, Howard Hughes Medical Institute, Apr 2007, Washington DC, United States
Communication dans un congrès hal-02301434 v1
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Two optic flow regulators for speed control and obstacle avoidance

Julien Serres , Franck Ruffier , Nicolas Franceschini
The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006., Feb 2006, Pisa, Italy. pp.750-757, ⟨10.1109/BIOROB.2006.1639180⟩
Communication dans un congrès hal-02295748 v1
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Automatic landing and take off at constant slope without terrestrial aids

Franck Ruffier , Julien Serres , Nicolas Franceschini
31th European Rotorcraft Forum (ERF'05), Sep 2005, Florence, Italy. pp.92.1-92.8
Communication dans un congrès hal-02295758 v1
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Biomimetic visual navigation in a corridor: to centre or not to centre?

Julien Serres , Franck Ruffier , Nicolas Franceschini
International Mediterranean Modeling Multiconference (I3M), Oct 2005, Marseille, France
Communication dans un congrès hal-02295829 v1
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Réguler le flux optique latéral pour naviguer dans un corridor

Julien Serres , Franck Ruffier , Nicolas Franceschini
5ème Journées Nationales de Recherche en Robotique (JNRR), Oct 2005, Guidel, France. pp.289-290
Communication dans un congrès hal-02298941 v1
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BIO-INSPIRED OPTICAL FLOW CIRCUITS FOR THE VISUAL GUIDANCE OF MICRO-AIR VEHICLES

F. Ruffier , S. Viollet , S. Amic , N. Franceschini
ISCAS 2003. International Symposium on Circuits and Systems, May 2003, Bangkok, Thailand. pp.III-846-III-849, ⟨10.1109/ISCAS.2003.1205152⟩
Communication dans un congrès hal-03844458 v1
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Mouvement Animal et Humain : Biomécanique, Biorobotique, Biomimétisme GDR 2088 Biomimétisme Bio-inspiration

Pierre Moretto , Frédéric Guittard , Philippe Souères , Anthony Herrel , José de Jesus Castillo-Zamora et al.
Mouvement Animal et Humain, Biomécanique, Biorobotique, 2023, Mouvement Animal et Humain, Biomécanique, Biorobotique, Biomimétisme
Proceedings/Recueil des communications hal-04320976 v2
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Honeybees flying over a mirror crash irremediably

Julien Serres , Antoine H P Morice , Constance Blary , Gilles Montagne , Franck Ruffier
4th International Conference on Invertebrate Vision (ICIV), Aug 2019, Bäckaskog, Sweden. , poster number 43, pp.260, 2019, ⟨10.13140/RG.2.2.24911.00162⟩
Poster de conférence hal-03453393 v1
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A Quasi-panoramic Bio-inspired Eye for Flying Parallel to Walls

Erik Vanhouette , Franck Ruffier , Julien Serres
IEEE Sensors 2017, Oct 2017, Glasgow, United Kingdom. , paper ID 1332, 2017, ⟨10.1109/ICSENS.2017.8234110⟩
Poster de conférence hal-01630170 v1
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Optic flow and energy invariants combined may explain gulls' altitude profiles during offshore takeoff

Julien Serres , Thomas J Evans , Susanne Åkesson , Olivier Duriez , Judy Shamoun-Baranes et al.
6. International Bio‐logging Science Symposium (BLS6), Sep 2017, Lake Constance, Germany
Poster de conférence hal-02078084 v1
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Flying in 3D with an Insect based Visual Autopilot

G. Portelli , Julien Serres , F. Ruffier , N. Franceschini
"Visual processing in insects: from anatomy to behavior II", Janelia Farm Conference, May 2009, Washington DC, United States
Poster de conférence hal-02301416 v1
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A bee in a corridor: centering and wall-following

Julien Serres , Franck Ruffier , Guillaume P. Masson , Nicolas Franceschini
2nd International Conference on Invertebrate Vision (ICIV), Aug 2008, Bäckaskog, Sweden
Poster de conférence hal-02195483 v1
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A bee in the corridor: regulating the optic flow on one side

Franck Ruffier , Julien Serres , Guillaume P. P Masson , Nicolas Franceschini
31st Göttingen Neurobiology Conference - 7th Meeting of the German Neuroscience Society, Mar 2007, Göttingen, Germany. T14-7B
Poster de conférence hal-02295700 v1
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A bee in the corridor: centring or wall-following ?

Julien Serres , Franck Ruffier , Guillaume P Masson , Nicolas Franceschini
31st Göttingen Neurobiology Conference - 7th Meeting of the German Neuroscience Society, Mar 2007, Goettingen, Germany. T14-8B, 2007
Poster de conférence hal-01445551 v1
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Regulating the lateral optic flow to navigate in a corridor

Julien Serres , F. Ruffier , N. Franceschini
5ème Journées Nationales de Recherche en Robotique (JNRR), Oct 2005, Guidel, France
Poster de conférence hal-02298950 v1
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The Vertical Optic Flow: An Additional Cue for Stabilizing Beerotor Robot’s Flight Without IMU

Fabien Expert , Franck Ruffier
Wilson, P. Stuart ; Verschure, F.M.J. Paul ; Mura, Anna ; Prescott, J. Tony. Biomimetic and Biohybrid Systems: 4th International Conference, Living Machines 2015, Barcelona, Spain, July 28 - 31, 2015, Proceedings, Springer, pp.187-198, 2015, 978-3-319-22979-9. ⟨10.1007/978-3-319-22979-9_19⟩
Chapitre d'ouvrage hal-01315451 v1
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Insect inspired visual motion sensing and flying robots

Thibaut Raharijaona , Lubin Kerhuel , Julien Serres , Frédéric Roubieu , Fabien Expert et al.
Handbook of Biomimetics and Bioinspiration: 2 Electromechanical Systems, 2014, 978-981-435-4950. ⟨10.1142/9789814354936_0022⟩
Chapitre d'ouvrage hal-02294399 v1
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Toward an Autonomous Lunar Landing Based on Low-Speed Optic Flow Sensors

Guillaume Sabiron , Paul Chavent , Laurent Burlion , Erwan Kervendal , Eric Bornschlegl et al.
Advances in Aerospace Guidance, Navigation and Control, Springer, pp.681 - 699, 2013, 978-3-642-38253-6. ⟨10.1007/978-3-642-38253-6_39⟩
Chapitre d'ouvrage istex hal-01079728 v1
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Bio-inspired Landing Approaches and Their Potential Use On Extraterrestrial Bodies

Thibaut Raharijaoana , Guillaume Sabiron , Stéphane Viollet , Nicolas Franceschini , Franck Ruffier
Springer Verlag Berlin Heidelberg. Viorel Badescu, Springer Verlag Berlin Heidelberg, pp.221-246, 2013, 978-3642392436
Chapitre d'ouvrage hal-00858087 v1
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Aerial Navigation and Optic Flow Sensing: A Biorobotic Approach

Nicolas Franceschini , Franck Ruffier , Julien Serres
Frederic Danion; Mark Latash. Motor Control: Theories, Experiments, and Applications, Oxford University Press, pp.451-477, 2010, 9780195395273
Chapitre d'ouvrage hal-01985038 v1
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Field Programmable Gate Array (FPGA) for Bio-Inspired Visuo-Motor Control Systems Applied to Micro-Air Vehicles

Fabrice Aubépart , Julien Serres , Antoine Dilly , Franck Ruffier , Nicolas Franceschini
Aerial Vehicles, InTech, 2009, ⟨10.5772/6466⟩
Chapitre d'ouvrage hal-03042173 v1
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Optic Flow Based Autopilots: Speed Control and Obstacle Avoidance

Nicolas Franceschini , Franck Ruffier , Julien Serres
Flying Insects and Robots, Springer Berlin Heidelberg, pp.29-50, 2009, ⟨10.1007/978-3-540-89393-6_3⟩
Chapitre d'ouvrage istex hal-02294508 v1
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Optic Flow Based Visual Guidance: From Flying Insects to Miniature Aerial Vehicles

Nicolas Franceschini , Franck Ruffier , Julien Serres , Stéphane Viollet
Aerial Vehicles, InTech, 2009, ⟨10.5772/6491⟩
Chapitre d'ouvrage hal-03042183 v1