Franck Ruffier
148
Documents
Publications
Publications
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Visual Homing in Outdoor Robots Using Mushroom Body Circuits and Learning WalksThe 14th International Conference on Biomimetics and Biohybrid Systems, Living Machines, University of Sheffield, Jul 2025, Sheffield, United Kingdom
Communication dans un congrès
hal-05160353
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Dynamical Model and Tracking Controller for a Novel Flapping Wing Drone Platform2025 International Conference on Unmanned Aircraft Systems (ICUAS), May 2025, Charlotte, NC, United States. ⟨10.1109/ICUAS65942.2025.11007922⟩
Communication dans un congrès
hal-05001130
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VIGS-Fusion: Fast Gaussian Splatting SLAM processed onboard a small quadrirotorICAR ( International Conference on Advanced Robotics), Dec 2025, San Juan, Argentina
Communication dans un congrès
hal-05192786
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Enhancing Ant-Inspired Visual Compass with Focused Visual Scan in a Compact RobotThe 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
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Are biological agents governed by similar visuo-motor mechanisms to fly?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
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Safety Net Detection by Optic Flow Processing2023 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
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Vector Field Aided Trajectory Tracking by a 10-gram Flapping-Wing Micro Aerial VehicleIEEE International Conference on Robotics and Automation (ICRA 2023), IEEE, May 2023, Londres, United Kingdom
Communication dans un congrès
hal-03831115
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Minimalistic in-flight odometry based on two optic flow sensors along a bouncing trajectoryICCAS 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
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Corridor 3D Navigation of a Fully-Actuated Multirotor by Means of Bee-Inspired Optic Flow Regulation2022 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
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Corridor 3D Navigation of a Fully-Actuated Multirotor by Means of Bee-Inspired Optic Flow RegulationInternational Conference on System Theory, Control and Computing 2022, Oct 2022, Sinaia, Romania
Communication dans un congrès
hal-03787949
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Using trajectory oscillation timing improves in-flight odometry based solely on optic flowsIMAV 2022 - 13th international micro air vehicle conference (IMAV), Sep 2022, Delft, Netherlands
Communication dans un congrès
hal-03788528
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Estimation of the distance from a surface based on local optic flow divergence2021 International Conference On Unmanned Aircraft Systems (ICUAS'21), Jun 2021, Athens, Greece. ⟨10.1109/ICUAS51884.2021.9476751⟩
Communication dans un congrès
hal-03293482
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Perceptual-motor coupling between Helicopter and ship during ship deck landing maneuversThe 1st International Conference on Cognitive Aircraft Systems – ICCAS, Mar 2020, Toulouse, France. ⟨10.34849/cfsb-t270⟩
Communication dans un congrès
hal-03112084
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Bird-inspired foot and limb for perching drones preliminary considerationsInternational Workshop on Bionic Engineering - IWBE, Jun 2020, Manchester, United Kingdom. pp.1-2
Communication dans un congrès
hal-03103963
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Honeybees flying over a mirror crash irremediably4th 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
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The scale of virtual environment influences human perception of distanceJournées Françaises d'Informatique Graphique et de Réalité Virtuelle, Nov 2019, Marseille, France
Communication dans un congrès
hal-03039203
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On the functional nature of perceptual-motor coupling during ship deck landing maneuversJournées Françaises d'Informatique Graphique et de Réalité Virtuelle, Nov 2019, Marseille, France
Communication dans un congrès
hal-03039183
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A Quasi-panoramic Bio-inspired Eye for Flying Parallel to WallsIEEE Sensors 2017, Oct 2017, Glasgow, United Kingdom. paper ID 1332, ⟨10.1109/ICSENS.2017.8234110⟩
Communication dans un congrès
hal-01629291
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Hexabot: a small 3D-printed six-legged walking robot designed for desert ant-like navigation tasksIFAC Word Congress 2017, Jul 2017, Toulouse, France
Communication dans un congrès
hal-01643176
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Toward an insect-inspired event-based autopilot combining both visual and control eventsInternational Conference on Event-Based Control, Communication and Signal Processing, May 2017, Funchal, Portugal. ⟨10.1109/EBCCSP.2017.8022822⟩
Communication dans un congrès
hal-01528589
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A honeybee's navigational toolkit on Board a Bio-inspired Micro Flying RobotThe 9th International Micro Air Vehicle Conference and Competition (IMAV), Sep 2017, Toulouse, France. pp.136-142
Communication dans un congrès
hal-01593819
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X-Morf: a crash-separable quadrotor that morfs its X-geometry in flightRED UAS 2017- Research, Education and Development of Unmanned Aerial Systems, Oct 2017, Linkoping, Sweden
Communication dans un congrès
hal-01644528
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TOWARD AN ADVANCED INFORMATIONAL FRAMEWORK FOR IMPROVING MINIMALISTIC VISUAL ODOMETRYASTRA 2017, ESA, Jun 2017, Leiden, Netherlands
Communication dans un congrès
hal-01741324
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Optic-Flow Based Car-Like Robot Operating in a 5-Decade Light Level RangeIEEE International Conference on Robotics and Automation (ICRA 2016), IEEE, May 2016, Stockholm, Sweden
Communication dans un congrès
hal-01322837
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Event-based visual guidance inspired by honeybees in a 3D tapered tunnelSecond 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
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Towards an Automatic Parking System using Bio-Inspired 1-D Optical Flow SensorsIEEE International Conference on Vehicular Electronics and Safety (ICVES) 2015, Nov 2015, Yokohama, Japan
Communication dans un congrès
hal-01235593
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X4-MaG and RT-MaG: a low-cost open-source micro-quadrotor based on Real-Time Linux and a new Matlab/Simulink toolboxIROS 2015 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2015, Hambourg, Germany
Communication dans un congrès
hal-01242014
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Backup State Observer Based on Optic Flow Applied to Lunar LandingIEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2014, Chicago, United States
Communication dans un congrès
hal-01021322
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Optic Flow-Based Nonlinear Control and Sub-optimal Guidance for Lunar LandingIEEE International Conference on Robotics and Biomimetics, Dec 2014, Bali, Indonesia
Communication dans un congrès
hal-01079488
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Event-based speed control on a sensor-less miniature thrusterAIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Jul 2014, Besançon, France. pp.n/c
Communication dans un congrès
hal-00982430
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Low-speed optic-flow sensor onboard an unmanned helicopter flying outside over fieldsIEEE ICRA - IEEE International Conference on Robotics and Automation, May 2013, Karlsruhe, Germany
Communication dans un congrès
hal-00820264
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Toward an Autonomous Lunar Landing Based on Low-speed Optic Flow SensorsEuroGNC - 2nd CEAS Specialist Conference on Guidance, Navigation & Control, Apr 2013, Delft, Netherlands. pp.993-1011
Communication dans un congrès
hal-00820225
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Visual motion sensing onboard a 50-g helicopter flying freely under complex VICON-lighting conditionsIEEE International Conference on Complex Medical Engineering -CME-, Jul 2012, Kobe, Japan. pp.634-639
Communication dans un congrès
hal-00714425
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A fully-autonomous hovercraft inspired by bees: wall following and speed control in straight and tapered corridors2012 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
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CURVACE - CURVed Artificial Compound EyesProceedings 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
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A novel 1-gram insect based device measuring visual motion along 5 optical directionsSensors, 2011 IEEE, Oct 2011, Limerick, Ireland. pp.687, ⟨10.1109/ICSENS.2011.6127157⟩
Communication dans un congrès
hal-00716606
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Controlling docking, altitude and speed in a circular high-roofed tunnel thanks to the optic flowIEEE International Conference on Intelligent Robots and Systems (IROS), Oct 2012, Vilamoura, Portugal. pp.1125-1132
Communication dans un congrès
hal-00742401
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Interpolation based "time of travel" scheme in a Visual Motion Sensor using a small 2D retinaIEEE Sensors Conference 2012, Oct 2012, Taïpei, Taiwan. pp.2231-2234
Communication dans un congrès
hal-00748533
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From bees’ surface following to lunar landingInternational Workshop on Bio-inspired Robots, Apr 2011, Nantes, France
Communication dans un congrès
hal-02194478
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A mouse sensor and a 2-pixel motion sensor exposed to continuous illuminance changesIEEE Sensors, Oct 2011, Limerick, Ireland
Communication dans un congrès
hal-00713577
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A tiny directional sound sensor inspired by crickets designed for micro-air vehiclesIEEE Sensors 2011 conference, Oct 2011, Limerick, Ireland. pp.CDROM, ⟨10.1109/ICSENS.2011.6126978⟩
Communication dans un congrès
hal-00654502
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A bio-inspired robot accounts for insect behavior16th European Conference en Eye Movement (ECEM), Aug 2011, Marseille, France
Communication dans un congrès
hal-02194432
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Evidence for ventral optic flow regulation in honeybeesCinquième conférence plénière française de Neurosciences Computationnelles, "Neurocomp'10", Aug 2010, Lyon, France
Communication dans un congrès
hal-00553445
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Biomimetic optic flow sensing applied to a lunar landing scenario2010 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
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Characteristics of Three Miniature Bio-inspired Optic Flow Sensors in Natural Environments2010 Fourth International Conference on Sensor Technologies and Applications, Jul 2010, Venise, Italy
Communication dans un congrès
in2p3-00516261
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Neuromimetic Robots inspired by Insect VisionThe 3rd International Conference “Smart, Materials, Structures and Systems” (CIMTEC), Aug 2008, Acireale, Scicily, Italy. pp.127-136
Communication dans un congrès
hal-01446805
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Insect inspired autopilotsThe International Symposium on Aero-aqua Bio-Mechanisms (ISABMEC), Aug 2009, Shangai, China
Communication dans un congrès
hal-02195500
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Bio-inspired optic flow sensors and optic flow based autopilotsUSA-China Workshop on bio-inspired smart systems: materials, mechanics, control and sensor innovation, Jul 2009, Dalian, China
Communication dans un congrès
hal-02194530
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Pilote automatique bio-inspiré pour la navigation en 3D7ème Journées des Jeunes Chercheurs en Robotique (JJCR), Nov 2009, Neuvy-sur-Barangeon, France
Communication dans un congrès
hal-02298966
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3D Navigation With An Insect-Inspired AutopilotDeuxième conférence française de Neurosciences Computationnelles, "Neurocomp08", Oct 2008, Marseille, France
Communication dans un congrès
hal-00331566
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A 3D insect-inspired visual autopilot for corridor-followingEMBS 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
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Pilote automatique bio-inspiré basé sur la vision du mouvement6ème Manifestation des Jeunes Chercheurs en STIC, Oct 2008, Marseille, France
Communication dans un congrès
hal-02298360
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Combining sound and optic flow cues to reach a sound source despite lateral obstacles2008 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
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From insects to robots and back2nd International Conference on Invertebrate Vision (ICIV), Aug 2008, Bäckaskog, Sweden
Communication dans un congrès
hal-02195476
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A bio-inspired optic flow based autopilot for guiding a miniature hovercraft in corridorsIEEE-IROS Workshop on Visual Guidance Systems for Small Autonomous Aerial, Sep 2008, Nice, France
Communication dans un congrès
hal-02294457
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Neuromimetic Robots inspired by Insect Vision3rd International Conference “Smart, Materials, Structures and Systems” (CIMTEC), Jun 2008, Acireale, Sicily, Italy
Communication dans un congrès
hal-02296278
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Un pilote automatique inspiré des insectes pour la navigation 3D dans un tunnel4ème Journée de l'Ecole Doctorale Sciences du Mouvement Humain (JEDSMH), May 2008, Avignon, France
Communication dans un congrès
hal-02298370
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Insects as pilots: optic flow regulation for vertical and horizontal guidanceThe International Symposium on Flying Insects and Robots (FIR), Aug 2007, Ascona, Switzerland
Communication dans un congrès
hal-02195516
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Guidage visuel d'un aéroglisseur miniature dans un corridor6ème Journées Nationales de la Recherche en Robotique (JNRR), Oct 2007, Obernai, France
Communication dans un congrès
hal-02298992
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A bee in the corridor : Side-slip control autopilotThe International Symposium on Flying Insects and Robots (FIR), Aug 2007, Ascona, Switzerland
Communication dans un congrès
hal-02195537
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Vision based autopilot in fliesKeynote 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
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Two optic flow regulators for speed control and obstacle avoidanceThe 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
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Automatic landing and take off at constant slope without terrestrial aids31th European Rotorcraft Forum (ERF'05), Sep 2005, Florence, Italy. pp.92.1-92.8
Communication dans un congrès
hal-02295758
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Biomimetic visual navigation in a corridor: to centre or not to centre?International Mediterranean Modeling Multiconference (I3M), Oct 2005, Marseille, France
Communication dans un congrès
hal-02295829
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Réguler le flux optique latéral pour naviguer dans un corridor5ème Journées Nationales de Recherche en Robotique (JNRR), Oct 2005, Guidel, France. pp.289-290
Communication dans un congrès
hal-02298941
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BIO-INSPIRED OPTICAL FLOW CIRCUITS FOR THE VISUAL GUIDANCE OF MICRO-AIR VEHICLESISCAS 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
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AntFlie: Frugal Visual Teach and Repeat on Narrow FoV Micro-Drones2025
Pré-publication, Document de travail
hal-05347280
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Underwater Netting Detection and Distance Estimation using Optic Flow2025
Pré-publication, Document de travail
hal-05120953
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Antcar: Simple Route Following Task with Ants-Inspired Vision and Neural Model2023
Pré-publication, Document de travail
(preprint/prepublication)
hal-04060451
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Toward a fully autonomous hovercraft visually guided thanks to its own bio-inspired motion sensors2012
Pré-publication, Document de travail
hal-00743520
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Mouvement Animal et Humain : Biomécanique, Biorobotique, Biomimétisme GDR 2088 Biomimétisme Bio-inspirationMouvement Animal et Humain, Biomécanique, Biorobotique, 2023, Mouvement Animal et Humain, Biomécanique, Biorobotique, Biomimétisme
Proceedings/Recueil des communications
hal-04320976
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Honeybees flying over a mirror crash irremediably4th 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
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A Quasi-panoramic Bio-inspired Eye for Flying Parallel to WallsIEEE Sensors 2017, Oct 2017, Glasgow, United Kingdom. , paper ID 1332, 2017, ⟨10.1109/ICSENS.2017.8234110⟩
Poster de conférence
hal-01630170
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Optic flow and energy invariants combined may explain gulls' altitude profiles during offshore takeoff6. International Bio‐logging Science Symposium (BLS6), Sep 2017, Lake Constance, Germany
Poster de conférence
hal-02078084
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Flying in 3D with an Insect based Visual Autopilot"Visual processing in insects: from anatomy to behavior II", Janelia Farm Conference, May 2009, Washington DC, United States
Poster de conférence
hal-02301416
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A bee in a corridor: centering and wall-following2nd International Conference on Invertebrate Vision (ICIV), Aug 2008, Bäckaskog, Sweden
Poster de conférence
hal-02195483
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A bee in the corridor: regulating the optic flow on one side31st Göttingen Neurobiology Conference - 7th Meeting of the German Neuroscience Society, Mar 2007, Göttingen, Germany. T14-7B
Poster de conférence
hal-02295700
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A bee in the corridor: centring or wall-following ?31st Göttingen Neurobiology Conference - 7th Meeting of the German Neuroscience Society, Mar 2007, Goettingen, Germany. T14-8B, 2007
Poster de conférence
hal-01445551
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Regulating the lateral optic flow to navigate in a corridor5ème Journées Nationales de Recherche en Robotique (JNRR), Oct 2005, Guidel, France
Poster de conférence
hal-02298950
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Optic flow-based roboticsJohn Wiley & Sons, Inc., pp.1-14, 2016, ⟨10.1002/047134608X.W8321⟩
Ouvrages
hal-02294347
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The Vertical Optic Flow: An Additional Cue for Stabilizing Beerotor Robot’s Flight Without IMUWilson, 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
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Insect inspired visual motion sensing and flying robotsHandbook of Biomimetics and Bioinspiration: 2 Electromechanical Systems, 2014, 978-981-435-4950. ⟨10.1142/9789814354936_0022⟩
Chapitre d'ouvrage
hal-02294399
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Toward an Autonomous Lunar Landing Based on Low-Speed Optic Flow SensorsAdvances 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
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Bio-inspired Landing Approaches and Their Potential Use On Extraterrestrial BodiesSpringer Verlag Berlin Heidelberg. Viorel Badescu, Springer Verlag Berlin Heidelberg, pp.221-246, 2013, 978-3642392436
Chapitre d'ouvrage
hal-00858087
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Aerial Navigation and Optic Flow Sensing: A Biorobotic ApproachFrederic Danion; Mark Latash. Motor Control: Theories, Experiments, and Applications, Oxford University Press, pp.451-477, 2010, 9780195395273
Chapitre d'ouvrage
hal-01985038
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Field Programmable Gate Array (FPGA) for Bio-Inspired Visuo-Motor Control Systems Applied to Micro-Air VehiclesAerial Vehicles, InTech, 2009, ⟨10.5772/6466⟩
Chapitre d'ouvrage
hal-03042173
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Optic Flow Based Autopilots: Speed Control and Obstacle AvoidanceFlying Insects and Robots, Springer Berlin Heidelberg, pp.29-50, 2009, ⟨10.1007/978-3-540-89393-6_3⟩
Chapitre d'ouvrage
istex
hal-02294508
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Optic Flow Based Visual Guidance: From Flying Insects to Miniature Aerial VehiclesAerial Vehicles, InTech, 2009, ⟨10.5772/6491⟩
Chapitre d'ouvrage
hal-03042183
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DE L'INSECTE AUX ROBOTS : OBSERVER, RECONSTRUIRE, INNOVER ET MIEUX COMPRENDREAutomatique / Robotique. Aix-Marseille Université, 2013
HDR
tel-01277888
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Method and device for measuring the angular velocity of a luminance transition zone and steering aid system for fixation and tracking a target comprising at least one such luminance transition zoneFrance, Patent n° : EP 2341352 (A1). 2011, pp.65
Brevet
hal-00612380
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PILOTE AUTOMATIQUE BIOMIMETIQUE Système générique inspiré du contrôle visuomoteur des insectes pour : le décollage, le suivi de terrain, la réaction au vent et l'atterrissage automatiques d'un micro-aéronefAutomatique / Robotique. Institut National Polytechnique de Grenoble - INPG, 2004. Français. ⟨NNT : ⟩
Thèse
tel-00696454
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