Publications

This page presents a selection of my publications ordered by topics. See the publications list for an exhaustive view.

Microrobots Design and Modelling

  1. B. Mauzé et al., “Nanometer Precision With a Planar Parallel Continuum Robot,” IEEE Robotics and Automation Letters, vol. 5, no. 3, pp. 3806–3813, 2020.
  2. C. Clévy et al., “In-situ Versatile Characterization of Carbon NanoTubes using Nanorobotics,” in Proc. of the IEEE Int. Conf. on Manipulation, Automation and Robotics at Small Scales (MARSS), 2019, pp. 1–6.
  3. W. Haouas, G. J. Laurent, S. Thibaud, and R. Dahmouche, “Kinematics, Design and Experimental Validation of a Novel Parallel Robot for Two-Fingered Dexterous Manipulation,” in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2019, pp. 6763–6768.
  4. W. Haouas, R. Dahmouche, and G. J. Laurent, “Design and Fabrication of a 7-DoF Miniature Mechanism with Soft Joints,” in IEEE International Conference on Soft Robotics (RoboSoft), Livorno, Italy, 2018.
  5. W. Haouas, R. Dahmouche, N. Le Fort-Piat, and G. J. Laurent, “A New Seven Degrees-of-Freedom Parallel Robot With a Foldable Platform,” Journal of Mechanisms and Robotics, vol. 10, no. 4, 2018.
  6. W. Haouas, R. Dahmouche, and G. J. Laurent, “Analysis of an Integrated 4-DoF Parallel Wrist for Dexterous Gripping,” in Proc. of the IEEE Int. Conf. on Automation Science and Engineering, 2018, pp. 1448–1453.
  7. W. Haouas, R. Dahmouche, J. Agnus, N. Le Fort-Piat, and G. J. Laurent, “New integrated silicon-PDMS process for compliant micro-mechanisms,” Journal of Micromechanics and Microengineering, vol. 27, no. 12, 2017.
  8. W. Haouas, R. Dahmouche, N. Le Fort-Piat, and G. J. Laurent, “4-DoF spherical parallel wrist with embedded grasping capability for minimally invasive surgery,” in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2016, pp. 2363–2368.
  9. B. Piranda, G. J. Laurent, J. Bourgeois, C. Clévy, S. Möbes, and N. Le Fort-Piat, “A new concept of planar self-reconfigurable modular robot for conveying microparts,” IFAC Mechatronics, vol. 23, no. 7, pp. 906–915, 2013.
  10. S. Möbes, B. Piranda, G. J. Laurent, J. Bourgeois, C. Clévy, and N. Le Fort-Piat, “Toward a 2D Modular and Self-Reconfigurable Robot for Conveying Microparts,” in Proc. of the IEEE dMEMS Workshop on Design, Control and Software Implementation for Distributed MEMS, 2012, pp. 7–13.
  11. G. Laurent and E. Piat, “Efficiency of Swimming Microrobots using Ionic Polymer Metal Composite Actuators,” in Proc. of the IEEE Int. Conf. on Robotics and Automation, Seoul, Korea, 2001, pp. 3914–3919.

High Resolution Visual Measurements

  1. V. Placet et al., “Transverse compressive properties of natural fibers determined using micro mechatronic systems and 2D full-field measurements,” in Materials Today: Proceedings of the 4th Int. Conf. on Natural FIbers (ICNF 2019), Porto, Portugal, 2020.
  2. A. N. André, P. Sandoz, M. Jacquot, and G. J. Laurent, “Robust, precise and scalable: A phase-encoded pattern for visual X, Y, Θ positioning,” in Proc. of the IEEE Int. Conf. on Manipulation, Automation and Robotics at Small Scales (MARSS), 2020, pp. 1–5.
  3. B. Mauzé, R. Dahmouche, C. Clévy, P. Sandoz, F. Hennebelle, and G. J. Laurent, “Visual Measurements at Small Scales: Guidelines to Reduce Uncertainties down to a Few Nanometers,” in Proc. of the IEEE Int. Conf. on Manipulation, Automation and Robotics at Small Scales (MARSS), 2020, pp. 1–6.
  4. A. N. André, P. Sandoz, B. Mauzé, M. Jacquot, and G. J. Laurent, “Robust phase-based decoding for absolute (X, Y, Θ) positioning by vision,” IEEE Transactions on Instrumentation and Measurement, vol. 70, pp. 1–12, 2020.
  5. A. N. André, P. Sandoz, B. Mauzé, M. Jacquot, and G. J. Laurent, “Sensing One Nanometer over Ten Centimeters: A Micro-Encoded Target for Visual In-Plane Position Measurement,” IEEE/ASME Transactions on Mechatronics, vol. 25, no. 3, pp. 1193–1201, 2020.
  6. A. N. André, P. Sandoz, B. Mauzé, M. Jacquot, and G. J. Laurent, “Sensing One Nanometer Over Ten Centimeters: A Microencoded Target for Visual In-Plane Position Measurement,” in Proc. of the IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, Boston, USA, 2020.
  7. M. Jacquot et al., “The shape of light: how to measure, control and compute complexity?,” in 18th Workshop on Information Optics (WIO 2019), Stockholm, Sweden, 2019.
  8. F. Amiot et al., “Détermination des propriétés mécaniques transverses de fibres par compression diamétrale et mesures de champs de déplacement,” in 24ème Congrès Français de Mécanique, Brest, France, 2019, p. 3.
  9. M. Jacquot, M. Asmad Vergara, G. Laurent, and P. Sandoz, “Frequency domain processing of digital holograms applied to high-accurate vision-based position control in micro-robotics,” in SPIE Photonics West, 2018, vol. 10558.
  10. P. Sandoz et al., “Enlarging computer-vision sensing-capabilities using pseudo-periodic patterns,” in Latin America Optics and Photonics Conference (Optical Society of America), 2018.
  11. M. Asmad Vergara, M. Jacquot, G. J. Laurent, and P. Sandoz, “Digital Holography as Computer Vision Position Sensor with an Extended Range of Working Distances,” Sensors, vol. 18, no. 7, 2018.
  12. M. Ourak, B. Tamadazte, G. J. Laurent, R. Kanty, and N. Andreff, “Image Distortion Compensation in Optical Coherence Tomography,” in Hamlyn Symposium on Medical Robotics, London, UK, 2018.
  13. M. Jacquot, M. A. Asmad Vergara, G. Laurent, and P. Sandoz, “Multiscale lensless visual position sensing by digital holography,” in 2017 European Conference on Lasers and Electro-Optics and European Quantum Electronics Conference, Munich, Germany, 2017.
  14. V. Guelpa et al., “3D-printed vision-based micro-force sensor dedicated to in situ SEM measurements,” in Proc. of the IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, 2017, pp. 424–429.
  15. V. Guelpa, G. J. Laurent, B. Tamadazte, P. Sandoz, N. Le Fort-Piat, and C. Clévy, “Single frequency-based visual servoing for microrobotics applications,” in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2016, pp. 4274–4279.
  16. V. Guelpa, P. Sandoz, M. A. Vergara, C. Clévy, N. Le Fort-Piat, and G. J. Laurent, “2D visual micro-position measurement based on intertwined twin-scale patterns,” Sensors and Actuators A: Physical, vol. 248, pp. 272–280, 2016.
  17. V. Guelpa, P. Sandoz, C. Clévy, N. Le Fort-Piat, and G. J. Laurent, “Pattern-based vision for microrobotic manipulators calibration and servoing,” in International Conference on Ubiquitous Robots and Ambient Intelligence, 2016, pp. 308–310.
  18. M. Asmad Vergara, M. Jacquot, G. J. Laurent, and P. Sandoz, “In-plane position and orientation measurement of a mobile target by digital holography,” in Latin America Optics and Photonics Conference (Optical Society of America), 2016.
  19. V. Guelpa, G. J. Laurent, P. Sandoz, and C. Clévy, “Vision-Based Microforce Measurement with a Large Range-to-Resolution Ratio using a Twin-Scale Pattern,” IEEE/ASME Transactions on Mechatronics, vol. 20, no. 6, pp. 3148–3156, 2015.
  20. V. Guelpa, G. J. Laurent, P. Sandoz, J. Galeano Zea, and C. Clévy, “Subpixelic Measurement of Large 1D Displacements: Principle, Processing Algorithms, Performances and Software,” Sensors, vol. 14, no. 3, pp. 5056–5073, 2014.
  21. J. Galeano Zea, P. Sandoz, G. J. Laurent, L. Lopes Lemos, and C. Clévy, “Twin-scale Vernier Micro-pattern for Visual Measurement of 1-D in-plane Absolute Displacements with Increased Range-to-Resolution Ratio,” International Journal of Optomechatronics, vol. 7, no. 3, pp. 222–234, 2013.
  22. J. Galeano Zea, P. Sandoz, G. J. Laurent, L. Lopes Lemos, and C. Clévy, “Twin-scale Vernier Micro-Pattern for Visual Measurement of 1D in-plane Absolute Displacements with Increased Range-to-Resolution Ratio,” in Proc. of the IEEE Int. Symp. on Optomechatronic Technologies, 2012, pp. 1–6.

Microrobots Calibration and Control by Vision

  1. M. Ourak, B. Tamadazte, G. J. Laurent, and N. Andreff, “Geometric Calibration of an OCT Imaging System,” in Proc. of the IEEE Int. Conf. on Robotics and Automation, 2018, pp. 3993–3999.
  2. Y. Baran, K. Rabenorosoa, G. J. Laurent, P. Rougeot, N. Andreff, and B. Tamadazte, “Preliminary Results on OCT-based Position Control of a Concentric Tube Robot,” in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2017, pp. 3000–3005.
  3. N. Tan, C. Clévy, G. J. Laurent, and N. Chaillet, “Compressive Sensing-Based Metrology for Micropositioning Stages Characterization,” IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 638–645, 2016.
  4. B. Komati et al., “Automated robotic microassembly of flexible optical components,” in Proc. of the IEEE International Symposium on Assembly and Manufacturing (ISAM), 2016, pp. 93–98.
  5. M. Ourak, A. De Simone, B. Tamadazte, G. J. Laurent, A. Menciassi, and N. Andreff, “Automated in-plane OCT-probe positioning towards repetitive optical biopsies,” in Proc. of the IEEE Int. Conf. on Robotics and Automation, 2016, pp. 4186–4191.
  6. N. Tan, C. Clévy, G. J. Laurent, P. Sandoz, and N. Chaillet, “Accuracy Quantification and Improvement of Serial Micropositioning Robots for In-Plane Motions,” IEEE Transactions on robotics, vol. 31, no. 6, pp. 1497–1507, Dec. 2015.
  7. A. V. Kudryavtsev, G. J. Laurent, C. Clévy, B. Tamadazte, and P. Lutz, “Stereovision-based control for automated MOEMS assembly,” in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2015, pp. 1391–1396.
  8. A. Kudryavtsev, G. J. Laurent, C. Clévy, B. Tamadazte, and P. Lutz, “Analysis of CAD Model-based Visual Tracking for Microassembly using a New Block Set for MATLAB/Simulink.,” International Journal of Optomechatronics, vol. 9, no. 4, pp. 295–309, 2015.
  9. N. Tan, C. Clévy, G. J. Laurent, P. Sandoz, and N. Chaillet, “Characterization and Compensation of XY Micropositioning Robots using Vision and Pseudo-Periodic Encoded Patterns,” in Proc. of the IEEE Int. Conf. on Robotics and Automation, Hong Kong, China, 2014, pp. 2819–2824.
  10. A. V. Kudryavtsev, G. J. Laurent, C. Clévy, B. Tamadazte, and P. Lutz, “Characterization of Model-based Visual Tracking Techniques for MOEMS using a New Block Set for MATLAB/Simulink,” in Proc. of the IEEE Int. Symp. on Optomechatronic Technologies, Seattle, USA, 2014.
  11. O. Matusek, V. Hotar, G. J. Laurent, B. Tamadazte, and C. Clévy, “Characterization of the Positioning Accuracy and Precision of MEMS Die Servoing Using Model-Based Visual Tracking,” in International Robtep Conference, Strbské Pleso, Vysoké Tatry, Slovakia, 2014, vol. 613, pp. 426–433.
  12. I. A. Ivan, M. Ardeleanu, and G. J. Laurent, “High Dynamics and Precision Optical Measurement Using a Position Sensitive Detector (PSD) in Reflection-Mode: Application to 2D Object Tracking over a Smart Surface,” Sensors, vol. 12, no. 12, pp. 16771–16784, 2012.
  13. I. A. Ivan, M. Ardeleanu, G. J. Laurent, N. Tang, and C. Clévy, “The metrology and applications of PSD (position sensitive detector) sensors for microrobotics,” in Proc. of the IEEE Int. Symp. on Optomechatronic Technologies, 2012, pp. 1–2.
  14. N. Tan, C. Clévy, G. J. Laurent, and N. Chaillet, “Calibration and Validation of XYT Micropositioners with Vision,” in Proc. of the IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, 2012, pp. 256–261.

Distributed Manipulation with Air Flow

  1. V. Guelpa, G. J. Laurent, B. Dahroug, and N. Le Fort-Piat, “Modular Contact-Free Conveyors for Handling Planar Fragile Objects,” IEEE Transactions on Robotics, vol. 33, no. 1, pp. 92–101, 2016.
  2. B. Dahroug, G. J. Laurent, V. Guelpa, and N. Le Fort-Piat, “Design, modeling and control of a modular contactless wafer handling system,” in Proc. of the IEEE Int. Conf. on Robotics and Automation, 2015, pp. 976–981.
  3. G. J. Laurent and H. Moon, “A survey of non-prehensile pneumatic manipulation surfaces: principles, models and control,” Intelligent Service Robotics, vol. 8, no. 3, pp. 151–163, 2015.
  4. G. J. Laurent, A. Delettre, R. Zeggari, R. Yahiaoui, J.-F. Manceau, and N. Le Fort-Piat, “Micropositioning and Fast Transport Using a Contactless Micro-Conveyor,” Micromachines, vol. 5, no. 1, pp. 66–80, 2014.
  5. J. Agnus et al., “Robotic microassembly and micromanipulation at FEMTO-ST,” Journal of Micro-Bio Robotics, vol. 8, pp. 91–106, 2013.
  6. A. Delettre, G. J. Laurent, N. Le Fort-Piat, and C. Varnier, “3-DoF potential air flow manipulation by inverse modeling control,” in Proc. of the IEEE Int. Conf. on Automation Science and Engineering, 2012, pp. 926–931.
  7. A. Delettre, G. J. Laurent, Y. Haddab, and N. Le Fort-Piat, “Robust control of a planar manipulator for flexible and contactless handling,” IFAC Mechatronics, vol. 22, no. 6, pp. 852–861, 2012.
  8. A. Delettre, G. J. Laurent, and N. Le Fort-Piat, “2-DoF Contactless Distributed Manipulation Using Superposition of Induced Air Flows,” in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2011, pp. 5121–5126.
  9. G. J. Laurent, A. Delettre, and N. Le Fort-Piat, “A new aerodynamic traction principle for handling products on an air cushion,” IEEE Transactions on robotics, vol. 27, no. 2, pp. 379–384, 2011.
  10. K. Boutoustous, G. J. Laurent, E. Dedu, L. Matignon, J. Bourgeois, and N. Le Fort-Piat, “Distributed control architecture for smart surfaces,” in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2010, pp. 2018–2024.
  11. A. Delettre, G. J. Laurent, and N. Le Fort-Piat, “A new contactless conveyor system for handling clean and delicate products using induced air flows,” in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2010, pp. 2351–2356.
  12. L. Matignon, G. J. Laurent, N. Le Fort-Piat, and Y.-A. Chapuis, “Designing decentralized controllers for distributed-air-jet MEMS-based micromanipulators by reinforcement learning,” Journal of Intelligent and Robotic Systems, vol. 59, no. 2, pp. 145–166, 2010.
  13. L. Matignon, G. J. Laurent, and N. Le Fort-Piat, “Design of semi-decentralized control laws for distributed-air-jet micromanipulators by reinforcement learning,” in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2009, pp. 3277–3283.

Decentralized Reinforcement Learning

  1. L. Matignon, G. J. Laurent, and N. Le Fort-Piat, “Independent Reinforcement Learners In Cooperative Markov Games: A Survey Regarding Coordination Problems,” The Knowledge Engineering Review, vol. 27, pp. 1–31, 2012.
  2. G. J. Laurent, L. Matignon, and N. Le Fort-Piat, “The World of Independent Learners is not Markovian,” Innovation in Knowledge-Based & Intelligent Engineering Systems, vol. 15, no. 1, pp. 55–64, 2011.
  3. L. Matignon, G. J. Laurent, N. Le Fort-Piat, and Y.-A. Chapuis, “Designing decentralized controllers for distributed-air-jet MEMS-based micromanipulators by reinforcement learning,” Journal of Intelligent and Robotic Systems, vol. 59, no. 2, pp. 145–166, 2010.
  4. L. Matignon, G. J. Laurent, and N. Le Fort-Piat, “Design of semi-decentralized control laws for distributed-air-jet micromanipulators by reinforcement learning,” in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2009, pp. 3277–3283.
  5. L. Matignon, G. J. Laurent, and N. Le Fort-Piat, “A study of FMQ heuristic in cooperative multi-agent games,” in Int. Conf. on Autonomous Agents and Multiagent Systems, Multi-Agent Sequential Decision Making in Uncertain Multi-Agent Domains Workshop, Estoril, Portugal, 2008, pp. 77–91.
  6. L. Matignon, G. J. Laurent, and N. Le Fort-Piat, “Hysteretic Q-Learning : an algorithm for Decentralized Reinforcement Learning in Cooperative Multi-Agent Teams,” in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Diego, CA, USA, 2007, pp. 64–69.

On-Line learning

  1. G. Laurent, “On-Line Learning for Micro-Object Manipulation,” in Markov Decision Processes in Artificial Intelligence, O. Sigaud and O. Buffet, Eds. Wiley-ISTE, 2010.
  2. L. Matignon, G. J. Laurent, and N. Le Fort-Piat, “Improving Reinforcement Learning Speed for Robot Control,” in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Beijing, China, 2006, pp. 3172–3177.
  3. L. Matignon, G. J. Laurent, and N. Le Fort-Piat, “Reward Function and Initial Values: Better Choices for Accelerated Goal-Directed Reinforcement Learning,” in Proc. of the Int. Conf. on Artificial Neural Networks, 2006, vol. 4131, pp. 840–849.
  4. C. Adda, G. J. Laurent, and N. Le Fort-Piat, “Learning to control a real micropositioning system in the STM-Q framework,” in Proc. of the IEEE Int. Conf. on Robotics and Automation, Barcelone, Spain, 2005, pp. 4580–4585.
  5. G. J. Laurent and E. Piat, “Learning Mixed Behaviours with Parallel Q-learning,” in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Lausanne, Switzerland, 2002, vol. 1, pp. 1002–1007.
  6. G. Laurent and E. Piat, “Parallel Q-Learning for a block-pushing problem,” in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Maui, USA, 2001, vol. 1, pp. 286–291.

Publications in French

  1. Y. Haddab, B. Lang, and G. Laurent, “Matlab/Simulink pour l’analyse et la commande de systèmes,” Techniques de l’ingénieur, vol. TIB394DUO, no. s7460, pp. 1–16, 2010.
  2. G. Laurent, “Mise en pratique de LSPI pour la commande linéaire quadratique adaptative d’une surface de manipulation à coussin d’air actif,” in Journées Francophones sur la Planification, la Décision et l’Apprentissage pour la conduite de systèmes, Besançon, 2010.
  3. L. Matignon, G. J. Laurent, and N. Le Fort-Piat, “SOaN: un algorithme pour la coordination d’agents apprenants et non communicants,” in Journées Francophones sur la Planification, la Décision et l’Apprentissage pour la conduite de systèmes, Paris, 2009, pp. 115–121.
  4. G. Laurent, “Apprentissage en ligne de la manipulation de micro-objets,” in Processus décisionnels de Markov en intelligence artificielle : volume 1, principes généraux et applications, O. Buffet and O. Sigaud, Eds. Hermès Science Publications, 2008, pp. 221–232.
  5. L. Matignon, G. J. Laurent, and N. Le Fort-Piat, “Un algorithme décentralisé d’apprentissage par renforcement multi-agents coopératifs : le Q-Learning Hystérétique,” in Journées Francophones sur la Planification, la Décision et l’Apprentissage pour la conduite de systèmes, Grenoble, 2007, pp. 115–121.
  6. G. J. Laurent and E. Piat, “Apprentissage par renforcement dans le cadre des processus décisionnels de Markov factorisés observables dans le désordre,” Revue d’Intelligence Artificielle, vol. 20, pp. 275–309, 2006.
  7. L. Matignon, G. J. Laurent, and N. Le Fort-Piat, “Choix de la fonction de renforcement et des valeurs initiales pour accélérer les problèmes d’apprentissage par renforcement de plus court chemin stochastique,” in Journées Francophones sur la Planification, la Décision et l’Apprentissage pour la conduite de systèmes, Toulouse, 2006, pp. 107–114.
  8. G. J. Laurent and E. Piat, “Conception et modélisation d’un microrobot nageur,” Journal Européen des Systèmes Automatisés, vol. 37, no. 1, pp. 31–48, 2003.
  9. G. J. Laurent and E. Piat, “Dyna-Q Parallèle,” in Journées Nationales sur les Processus Décisionnels de Markov et l’Intelligence Artificielle, Caen, 2003.
  10. G. Laurent and E. Piat, “Commande de micromanipulateurs plans par apprentissage par renforcement,” in 14èmes Journées des Jeunes Chercheurs en Robotique, Evry, 2001, pp. 20–25.

PhD Manuscripts (in French)

  1. W. Haouas, “Étude et développement de robots parallèles à plateformes configurables pour la micromanipulation dextre,” PhD thesis, Université de Bourgogne Franche-Comté, 2018.
  2. V. Guelpa, “Etalonnage et commande de microrobots par mesure visuelle sub-pixellique et multi- directionnelle,” PhD thesis, Université de Bourgogne Franche-Comté, 2017.
  3. A. Delettre, “Conception, modélisation et commande d’une surface de manipulation sans contact à flux d’air induit,” PhD thesis, Université de Franche-Comté, 2011.
  4. L. Matignon, “Synthèse d’agents adaptatifs et coopératifs par apprentissage par renforcement. Application à la commande d’un système distribué de micromanipulation,” PhD thesis, Université de Franche-Comté, Besançon, 2008.
  5. G. Laurent, “Synthèse de comportements par apprentissages par renforcement parallèles : application à la commande d’un micromanipulateur plan,” Thèse de doctorat, Université de Franche-Comté, Besançon, France, 2002.

© 2019. All rights reserved.

Powered by Hydejack v8.4.0