Franck Ruffier
Publications
Publications
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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⟩ |
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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 |
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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 |
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Dynamical Model and Tracking Controller for a Novel Flapping Wing Drone PlatformICUAS 2025 - International Conference on Unmanned Aircraft Systems, ICUAS, May 2025, Charlotte, NC, United States. ⟨10.1109/ICUAS65942.2025.11007922⟩ |
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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 |
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 |
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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⟩ |
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Ant-inspired bilateral visual memories to guide a car-like robotJournée des Jeunes Chercheurs en Robotique (JJCR 2023), GDR Robotique; Franck Ruffier; Maan El Badaoui El Najjar, Oct 2023, Moliets et Maâ, France |
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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⟩ |
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⟩ |
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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 |
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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 |
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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⟩ |
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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⟩ |
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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 |
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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⟩ |
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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 |
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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 |
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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⟩ |
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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 |
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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⟩ |
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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 |
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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 |
TOWARD AN ADVANCED INFORMATIONAL FRAMEWORK FOR IMPROVING MINIMALISTIC VISUAL ODOMETRYASTRA 2017, ESA, Jun 2017, Leiden, Netherlands |
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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 |
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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⟩ |
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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 |
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 |
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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 |
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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 |
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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 |
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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 |
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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 |
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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 |
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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 |
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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 |
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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⟩ |
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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⟩ |
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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⟩ |
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From bees’ surface following to lunar landingInternational Workshop on Bio-inspired Robots, Apr 2011, Nantes, France |
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A mouse sensor and a 2-pixel motion sensor exposed to continuous illuminance changesIEEE Sensors, Oct 2011, Limerick, Ireland |
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⟩ |
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A bio-inspired robot accounts for insect behavior16th European Conference en Eye Movement (ECEM), Aug 2011, Marseille, France |
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Evidence for ventral optic flow regulation in honeybeesCinquième conférence plénière française de Neurosciences Computationnelles, "Neurocomp'10", Aug 2010, Lyon, France |
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⟩ |
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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 |
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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 |
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 |
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Insect inspired autopilotsThe International Symposium on Aero-aqua Bio-Mechanisms (ISABMEC), Aug 2009, Shangai, China |
Neuromimetic Robots inspired by Insect VisionThe 3rd International Conference “Smart, Materials, Structures and Systems” (CIMTEC), Aug 2008, Acireale, Scicily, Italy. pp.127-136 |
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Neuromimetic Robots inspired by Insect Vision3rd International Conference “Smart, Materials, Structures and Systems” (CIMTEC), Jun 2008, Acireale, Sicily, Italy |
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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 |
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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 |
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From insects to robots and back2nd International Conference on Invertebrate Vision (ICIV), Aug 2008, Bäckaskog, Sweden |
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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⟩ |
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3D Navigation With An Insect-Inspired AutopilotDeuxième conférence française de Neurosciences Computationnelles, "Neurocomp08", Oct 2008, Marseille, France |
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Pilote automatique bio-inspiré basé sur la vision du mouvement6ème Manifestation des Jeunes Chercheurs en STIC, Oct 2008, Marseille, France |
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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⟩ |
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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 |
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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 |
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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 |
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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 |
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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⟩ |
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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 |
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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 |
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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 |
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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⟩ |
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Panoramic optic-flow profile guiding aerial exploration through turns in simulated environments2025 |
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Underwater Netting Detection and Distance Estimation using Optic Flow2025 |
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Antcar: Simple Route Following Task with Ants-Inspired Vision and Neural Model2023 |
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Toward a fully autonomous hovercraft visually guided thanks to its own bio-inspired motion sensors2012 |
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AntCar, Parsimonious Navigation : Ants-Inspired Visual Learning in a Car-like Robot19ème Journée de l'École Doctorale Sciences du Mouvement Humain ED463 (JEDSMH 2024), May 2024, Marseille, France. , 2024 |
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Embedded Ants-Inspired Vision and Mushroom Bodies-Inspired Neural Model for Route Following in Mobile Robots18ème Journée de l'École Doctorale Sciences du Mouvement Humain ED463 (JEDSMH 2023), May 2023, Montpellier, France. , 2025 |
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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⟩ |
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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⟩ |
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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 |
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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 |
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A bee in a corridor: centering and wall-following2nd International Conference on Invertebrate Vision (ICIV), Aug 2008, Bäckaskog, Sweden |
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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 |
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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 |
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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 |
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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 |
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Optic flow-based roboticsJohn Wiley & Sons, Inc., pp.1-14, 2016, ⟨10.1002/047134608X.W8321⟩ |
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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⟩ |
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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⟩ |
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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 |
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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⟩ |
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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 |
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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⟩ |
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Optic Flow Based Visual Guidance: From Flying Insects to Miniature Aerial VehiclesAerial Vehicles, InTech, 2009, ⟨10.5772/6491⟩ |
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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⟩ |
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DE L'INSECTE AUX ROBOTS : OBSERVER, RECONSTRUIRE, INNOVER ET MIEUX COMPRENDREAutomatique / Robotique. Aix-Marseille Université, 2013 |
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 |
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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 : ⟩ |