Franck Ruffier

152
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Publications

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AntFlie: Frugal Visual Teach and Repeat on Narrow FoV Micro-Drones

Gabriel Gattaux , Hamidou Diallo , Julien R Serres , Antoine Wystrach , Franck Ruffier

IEEE Robotics and Automation Letters, In press, ⟨10.1109/LRA.2026.3667486⟩

Article dans une revue hal-05347280v2
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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-04775857v2
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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-04820343v2
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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-05105420v1
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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-04966013v3
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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-04775869v2
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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-04569967v2
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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-04188530v1
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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-04054227v1
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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-03931424v1
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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-03821869v1
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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-03614115v1
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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-03223069v1
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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-03441841v1
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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-03358332v1
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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-03209269v1
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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-03466678v1
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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-03466692v2
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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-03320154v1
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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-03082645v2
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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-02986708v1
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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-02986570v1
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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-02309725v2
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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-01964636v1
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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-01894435v1
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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-01876298v1
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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-01644523v1
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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-01574508v1
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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-01551122v1
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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-01644531v1
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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-01454793v1

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-01454792v1

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-01414071v1
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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-01270504v1
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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-01108274v1
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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-01099975v1
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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-01099946v1
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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-01771748v1
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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-01446797v1
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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-01446798v1
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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-00803881v1
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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-00835031v1

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-01446802v1
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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-00712699v1
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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-00743523v1
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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-02010550v1

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-01446806v1
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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-01758721v1
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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-02294572v1
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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-02295687v1

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-01446807v1
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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-02295426v1
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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-02295717v1
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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-05055159v1
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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-05192786v1
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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-05160353v1
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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.

ICUAS 2025 - International Conference on Unmanned Aircraft Systems, ICUAS, May 2025, Charlotte, NC, United States. ⟨10.1109/ICUAS65942.2025.11007922⟩

Communication dans un congrès hal-05001130v2
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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-03831115v2

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-04145171v1
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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-04139578v1
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Ant-inspired bilateral visual memories to guide a car-like robot

Gabriel G Gattaux , Antoine Wystrach , Julien Serres , Franck Ruffier

Journée des Jeunes Chercheurs en Robotique (JJCR 2023), GDR Robotique; Franck Ruffier; Maan El Badaoui El Najjar, Oct 2023, Moliets et Maâ, France

Communication dans un congrès hal-05354130v1
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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-03791733v1

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-03989721v1
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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-03787949v1
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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-03788528v2
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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-03293482v1
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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-03112084v1
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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-03103963v1
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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-03453381v1
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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-03039203v1
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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-03039183v1
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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-01629291v1
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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-01643176v1
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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-01528589v1
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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-01593819v1
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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-01644528v1

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-01741324v1
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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-01322837v1
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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-01332819v1
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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-01235593v1

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-01242014v1
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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-00982430v1
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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-01079488v1
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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-01021322v1
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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-00820264v1
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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-00820225v1
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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-00748533v1
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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-00742401v1
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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-00714425v1
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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-00743129v2
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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 in2p3-00660666v1
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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-00716606v1
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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-02194478v1
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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-00713577v1

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-00654502v1
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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-02194432v1
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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-00553445v1

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-01446804v1

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 in2p3-00516261v1
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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-02298966v1

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-02194530v1
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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-02195500v1

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-01446805v1
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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-02296278v1
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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-02294457v1
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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-02298370v1
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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-02195476v1
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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-02294590v1
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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-00331566v1
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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-02298360v1
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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-02294544v1
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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-02301434v1
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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-02195516v1
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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-02298992v1
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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-02195537v1
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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-02295748v1
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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-02298941v1
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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-02295829v1
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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-02295758v1
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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-03844458v1
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AntCar, Parsimonious Navigation : Ants-Inspired Visual Learning in a Car-like Robot

Gabriel G Gattaux , Antoine Wystrach , Julien Serres , Franck Ruffier

19ème Journée de l'École Doctorale Sciences du Mouvement Humain ED463 (JEDSMH 2024), May 2024, Marseille, France. , 2024

Poster de conférence hal-05357376v1
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Embedded Ants-Inspired Vision and Mushroom Bodies-Inspired Neural Model for Route Following in Mobile Robots

Gabriel G Gattaux , Julien Serres , Franck Ruffier , Antoine Wystrach

18ème Journée de l'École Doctorale Sciences du Mouvement Humain ED463 (JEDSMH 2023), May 2023, Montpellier, France. , 2025

Poster de conférence hal-05357499v1
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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-03453393v1
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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-01630170v1
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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-02078084v1
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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-02301416v1
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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-02195483v1
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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-01445551v1
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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-02295700v1
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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-02298950v1
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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-04320976v2
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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-01315451v1
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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-02294399v1
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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-00858087v1
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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-01079728v1
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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-01985038v1
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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-03042173v1
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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-03042183v1
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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-02294508v1