En Français In English
Institute of Movement Sciences, UMR 7287

The Luminy's Campus at Marseilles

OCTAVE Robot, © H. Raguet

Optic Flow Sensor, Roubieu et al. 2011



Biorobotics Research Group in June 2011
Franck RUFFIER

Co-Head of the
Biorobotics dpt. www.biorobotics.eu

Co-Head of the Flying Arena of the Mediterranean www.marseilles-flying-arena.eu

CNRS Research Scientist - Eng. PhD. Habilitation (HDR)
Tel. (+33) 4 91 82 83 66 / Fax. (+33) 4 91 82 83 75

franck.ruffier at univ-amu.fr

My publications and my citations on Google Scholar (Including BibTeX export)

My publications and my citations on ResearcherID.com , Thomson Reuters (ISI Web of Science)

NEWS !!!
Open position : Master thesis on aerial robotics (Début : Sept 2014 ou 2015):
(pdf in French)

1st PhD Open position: PhD Thesis on Bio-inspired aerial robotics (Start : Sept 2014):
(pdf in French)
2nd PhD Open position: PhD Thesis on Bio-inspired aerial robotics (Start : Sept 2014):
(pdf in French)

- New Article accepted in J. Intell. Robot Syst.

F. Ruffier and N. Franceschini (2014) In Press & Open Access
Optic Flow Regulation in Unsteady Environments : A Tethered MAV Achieves Terrain Following and Targeted Landing Over a Moving Platform
J. Intell. Robot Syst., Springer, DOI 10.1007/s10846-014-0062-5

- New Article accepted at IEEE/RSJ 2014 IROS Conf.

G. Sabiron, L. Burlion, G. Jonniaux, E. Kervendal, E. Bornschlegl, T. Raharijaona, and F. Ruffier (2014) Authors' post-print (PDF)
Backup State Observer Based on Optic Flow Applied to Lunar Landing
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, USA

- New Article accepted at IEEE/ASME AIM 2014

T. Raharijaona, L. Dola, B. Boisseau, J.-J. Martinez-Molina, N. Marchand and F. Ruffier (2014) Authors' post-print (PDF)
Event-based speed control on a sensor-less miniature thruster
AIM 2014, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, July 8-11, 2014, Besançon, France

- New Article published in Bioinspiration & Biomimetics

F. L. Roubieu, J. R. Serres, F. Colonnier, N. Franceschini, S. Viollet and F. Ruffier (2014) Open access (PDF)
A biomimetic vision-based hovercraft accounts for bees' complex behaviour in various corridors
Bioinspiration & Biomimetics, IOP, 2014, 9(3) 036003 (22pp)

- New Article published in PNAS

D. Floreano, R. Pericet-Camara, S. Viollet, F. Ruffier et al. (2013) Authors' post-print (PDF)
Miniature curved artificial compound eyes
Proceedings of National Academy of Sciences of USA, PNAS, 2013 Jun 4, 110(23):9267-72


© www.curvace.org



We welcome any application for Master thesis or PhD thesis : please, send us a CV and a cover letter.

CV, Education - Current projects - Some Videos - PhD Students - Publications - Previous works at the Biorobotics department - Team Research Lines - Access Map using Public Transportation - Google Map Link

Journal Papers - Peer-reviewed Proceedings - Book Chapters - Other Publications

Last update : July 2012

Current Projects

A flying honeybee, © DGA / F. Vrignaud

BeeRotor Robot, Expert & Ruffier IROS 2012

LORA Robot, Roubieu et al. RoBio 2012

OCTAVE Robot, © H. Raguet

- Optic Flow regulation and LORA robot with Frederic Roubieu (PhD student), Julien Serres and Stéphane Viollet
- Honeybee visual navigation with Julien Serres
- EVA project (French Funded project -ANR-) (Autonomous Flying Entomopter) with Stéphane Viollet
- Optic flow based lunar landing with ESA (NPI GNC) with Guillaume Sabiron (PhD Student) and Thibaut Raharijaona
- Optic flow sensors and BeeRotor robot with Fabien Expert (PhD Student) and Stéphane Viollet in the framework of the EU ICT/FET open CURVACE project

Some Videos (in English and in French):

OCTAVE Robot: Terrain Following ; Take-off and landing manoeuvers ; Wind reaction
Video of OCTAVE robot (Divx)


X4 MaG Aerial Robot at Marseille's Flying Arena par augustin-manecy

Video LORA IEEE Robio 2012 par ruffierfranck


Video BeeRotor IROS 2012



Flying Robot OCTAVE 2001-2004 CNRS /Univ. Aix-Marseille
envoyé par Ruffier

Les promesses de la Biorobotique (2008) par ministeredeladefense


La fleur de la Biorobotique à Nantes (2011) par NANTES7




PhD Students
- Stefano Mafrica
- Guillaume Sabiron
- Fabien Colonnier

Past PhD Students
- Fabien Expert
- Frederic Roubieu
- Geoffrey Portelli
- Julien Serres

Full list of Publications
Journal Papers (ISI Journal Citation Report)
F. Ruffier and N. Franceschini (2014) In Press & Open Access
Optic Flow Regulation in Unsteady Environments : A Tethered MAV Achieves Terrain Following and Targeted Landing Over a Moving Platform
J. Intell. Robot Syst., Springer, DOI 10.1007/s10846-014-0062-5

F. L. Roubieu, J. R. Serres, F. Colonnier, N. Franceschini, S. Viollet and F. Ruffier (2014) Open access (PDF)
A biomimetic vision-based hovercraft accounts for bees' complex behaviour in various corridors
Bioinspiration & Biomimetics, IOP, 2014, 9(3) 036003 (22pp)

D. Floreano, R. Pericet-Camara, S. Viollet, F. Ruffier et al. (2013) Authors' post-print (PDF)
Miniature curved artificial compound eyes
Proceedings of National Academy of Sciences of USA, PNAS, 2013 Jun 4, 110(23):9267-72

F. L. Roubieu, F. Expert, G. Sabiron, F. Ruffier (2013) Authors' post-print (PDF)
A two-directional 1-gram visual motion sensor inspired by the fly's eye
IEEE Sensors Journal, Volume 13, Issue: 3, Pages: 1025 - 1035

Expert F, Viollet S, Ruffier F (2011) Authors' post-print (PDF)
Outdoor field performances of insect-based visual motion sensors
Journal of Field Robotics, Wiley, 28(4):529-541

Portelli G, Ruffier F, Roubieu FL, Franceschini N (2011) Article in Open-access
Honeybees' Speed Depends on Dorsal as Well as Lateral, Ventral and Frontal Optic Flows
PLoS ONE 6(5): e19486. doi:10.1371/journal.pone.0019486

Portelli, G., Ruffier, F., & Franceschini, N. (2010)
Honeybees change their height to restore their Optic Flow
Journal of Comparative Physiology A , Springer, 196(4):307-313

Portelli, G., Serres, J., Ruffier, F., Franceschini, N. (2010)
Modelling honeybee visual guidance in a 3-D environment
Journal of Physiology - Paris, Elsevier, 104(1-2):27-39

Viollet, S. and Ruffier, F. (2009).
Guest editorial : Visual Guidance systems for small unmanned aerial vehicles
Autonomous robots. Vol. 27, pp. 145-146

J. Serres, G. P. Masson, F. Ruffier and N. Franceschini (2008)
A bee in the corridor: centering and wall-following
Naturwissenschaften, Springer, Volume 95, Number 12 / December 2008, pp. 1181-1187

J. Serres, D. Dray, F. Ruffier and N. Franceschini (2008)
A vision-based autopilot for a miniature air vehicle: joint speed control and lateral obstacle avoidance
Autonomous Robots, Springer, Volume 25, Numbers 1-2 / August 2008, pp. 103-122

N. Franceschini, F. Ruffier, J. Serres (2007)
A bio-inspired flying robot sheds light on insect piloting abilities
Current biology Volume 17, Issue 4, 20 February 2007, pp. 329-335

M. Pudas, S. Viollet, F. Ruffier, A. Kruusing, S. Amic, S. Leppävuori, N. Franceschini (2007)
A miniature bio-inspired optic flow sensor based on low temperature co-fired ceramics (LTCC) technology
Sensors and Actuators A: Physical, Volume 133, Issue 1, 8 January 2007, Pages 88-95

N. Franceschini, F. Ruffier, J. Serres (2007)
Optic flow based autopilot: From insects to rotorcraft and back
Comparative Biochemistry and Physiology - Part A: Molecular & Integrative Physiology, Volume 146, Issue 4, Supplement 1, April 2007, Page S133
Abstracts of the Annual Main Meeting of the Society for Experimental Biology, Glasgow, Scotland, 31st March - 4th April, 2007

F. Ruffier, N. Franceschini (2005)
Optic flow regulation: the key to aircraft automatic guidance
Robotics and Autonomous Systems, Vol. 50, No 4, 31 March 2005, pp. 177-194

F. Ruffier, S. Viollet, N. Franceschini (2004)
Visual control of two aerial micro-robots by insect-based autopilots
Advanced Robotics, Vol. 18, No 8, pp. 771-786
Published jointly by VSP and the Robotics Society of Japan.
Peer-reviewed Proceedings
G. Sabiron, L. Burlion, G. Jonniaux, E. Kervendal, E. Bornschlegl, T. Raharijaona, and F. Ruffier (2014) Authors' post-print (PDF)
Backup State Observer Based on Optic Flow Applied to Lunar Landing
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, USA

T. Raharijaona, L. Dola, B. Boisseau, J.-J. Martinez-Molina, N. Marchand and F. Ruffier (2014) Authors' post-print (PDF)
Event-based speed control on a sensor-less miniature thruster
AIM 2014, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, July 8-11, 2014, Besançon, France

Sabiron G., Chavent P., Raharijaona T., Fabiani P., Ruffier F. (2013) Authors' post-print (PDF)
Low-speed optic-flow sensor onboard an unmanned helicopter flying outside over fields
IEEE Int. Conf. Robot. Autom. (ICRA 2013), Germany, pages 1734 - 1741

G. Sabiron, P. Chavent, L. Burlion, E. Kervendal, E. Bornschlegl, P. Fabiani, T. Raharijaona, F. Ruffier (2013) Authors' post-print (PDF)
Toward an Autonomous Lunar Landing Based on Low-speed Optic Flow Sensors
EuroGNC - 2nd CEAS Specialist Conference on Guidance, Navigation & Control, Delft : Pays-Bas (2013), pages 993 - 1011

F. L. Roubieu, J. Serres, N. Franceschini, F. Ruffier and S. Viollet (2012) Authors' post-print (PDF)
A fully autonomous hovercraft inspired by bees : wall following and speed control in straight and tapered corridors
Proceedings of IEEE RoBio 2012 Conf, China, Dec 11-14, pages 1311-1318

F. Expert, F.L. Roubieu and F. Ruffier (2012) Authors' post-print (PDF)
Interpolation based "time of travel" scheme in a Visual Motion Sensor using a small 2D retina
IEEE Sensors Conference, Taipei, Taiwan, October, 29-31, pages 2231-2234

F. Expert, F. Ruffier (2012) Authors' post-print (PDF)
Controlling docking, altitude and speed in a circular high-roofed tunnel thanks to the optic flow
Proceedings of IEEE IROS 2012 Conf, Portugal, pp. 1125-1132

F. Ruffier and F. Expert (2012) Authors' post-print (PDF)
Visual motion sensing onboard a 50-g helicopter flying freely under complex VICON-lighting conditions
Proceeding of IEEE/CME Conference on Complex Medical Engineering, Kobe, Japan, July 1-4 2012, pages 634-639

F.L. Roubieu, F. Expert, M. Boyron, B.-J. Fuschlock, S. Viollet, and F. Ruffier (2011) Authors' post-print (PDF)
A novel 1-gram insect based device measuring visual motion along 5 optical directions
IEEE Sensors 2011 conference, Limerick, Ireland, pages 687-690
IEEE Sensors 2011 Best student paper award : 1st prize

F. Expert, S. Viollet, and F. Ruffier (2011) Authors' post-print (PDF)
A mouse sensor and a 2-pixel motion sensor exposed to continuous illuminance changes
IEEE Sensors 2011 conference, Limerick, Ireland, pages 974-977

F. Ruffier, S. Benacchio, F. Expert, E. Ogam (2011)
A tiny directional sound sensor inspired by crickets designed for Micro-Air Vehicles
IEEE Sensors 2011 conference, Limerick, Ireland, pages 970-973

Viollet, S. Ruffier, F. Ray, T. Menouni, M. Aubépart, F. Kerhuel, L. Franceschini, N. (2010)
Characteristics of Three Miniature Bio-inspired Optic Flow Sensors in Natural Environments
Proc. of 2010 Fourth International Conference on Sensor Technologies and Applications (SENSORCOMM), pages: 51 - 55

Valette, F., Ruffier, F., Viollet, S., Seidl, T. (2010)
Biomimetic optic flow sensing applied to a lunar landing scenario
Proc. of IEEE International Conference on Robotics and Automation (ICRA 2010), May 2010, Pages 2253 - 2260

F. Ruffier, T. Mukai, H. Nakashima, J. Serres, N. Franceschini (2008)
Combining Sound and Optic Flow Cues to Reach a Sound Source Despite Lateral Obstacles
2008 IEEE International Symposium on System Integration, Nagoya, Decenber 4th 2008, pp. 89-94

G. Portelli, J. Serres, F. Ruffier, N. Franceschini (2008)
A 3D Insect-Inspired Visual Autopilot for Corridor-Following
Second IEEE RAS / EMBS International Conference on Biomedical Robotics and Biomechatronics, IEEE BioRob 2008, pp. 19-26., 19-22 Octobre 2008, Scottsdale, Arizona, USA

F. Ruffier, N. Franceschini (2008)
Aerial Robot Piloted in Steep Relief by Optic Flow Sensors
IEEE/RSJ 2008 International Conference on Intelligent RObots and Systems , IEEE IROS 2008, pp. 1266-1273, September, 22-26, 2008, Nice, France

N. Franceschini, S. Viollet, F. Ruffier, J. Serres (2008)
Neuromimetic Robots inspired by Insect Vision
Paper E-4.2: IL03, CIMTEC 2008 3rd International Conference 'Smart Materials, Structures and Systems', Acireale, Sicily, Italy, June 8-13, 2008

Serres, J., Ruffier, F. and N. Franceschini (2006)
Two optic flow regulators for speed control and obstacle avoidance
Paper n°284, In proceedings of the fist IEEE Int. Conference on Biomedical Robotics and Biomechatronics (BIOROB 2006), Pisa, Italy, Feb. 20-22

J. Serres, F. Ruffier and N. Franceschini (2005)
Biomimetic visual navigation in a corridor: to centre or not to centre?
International Mediterranean Modeling Multiconference (Marseille, France, Oct. 20-22), pp 91-97

F. Ruffier, J. Serres, N. Franceschini (2005)
Automatic landing and take off at constant slope without terrestrial aids
Proceeding of the 31th European Rotorcraft Forum (ERF'05), CEAS, Firenze, Italie

F. Ruffier, N. Franceschini (2004)
Optic flow based AFCS for rotorcraft automatic manoeuvring (terrain following, take-off and landing)
Proceeding of the 30th European Rotorcraft Forum (ERF'04), pp. 71.1-71.9, AAAF/CEAS, September 14-16 2004, Marseille

F. Ruffier, N. Franceschini (2004)
Visually guided Micro-Aerial Vehicle : automatic take off, terrain following, landing and wind reaction
Proceeding of the IEEE International Conference on Robotics and Automation (ICRA 2004), pp. 2339-2346, New Orleans, USA.
IEEE ICRA 2004 Best vision paper finalist

S. Viollet, F. Ruffier, N. Franceschini (2004)
Visual stabilisation and guidance of micro aerial robots : a biomimetic approach
Proceeding of the 35th International Symposium on Robotics (ISR 2004) Ref:THS31-4, Paris

F. Ruffier, S. Viollet, N. Franceschini (June 2003)
OSCAR and OCTAVE : Two bio-inspired visually guided aerial micro-robots
Proceeding of the 11th IEEE Int Conference on Advanced Robotics (ICAR 2003), pp. 726-732, Coimbra, Portugal.
IEEE ICAR 2003 Outstanding paper award

F. Ruffier, N. Franceschini (May 2003)
OCTAVE, a bioinspired visuo-motor control system for the guidance of Micro-Air Vehicles
SPIE proceeding, Vol. 5119, pp.1-12.
Conference on Bioengineered and Bioinspired Systems
Edited by Rodriguez-Vazquez, A.; Abbott, D.; Carmona, R.; Bellingham, U.S.A..

F. Ruffier, S. Viollet, S. Amic, N. Franceschini (May 2003)
Bio-inspired optic flow circuits for the visual guidance of micro-air vehicles
Proceeding of IEEE Int Symposium on Circuits and Systems (ISCAS 2003), Vol. III, pp.846-849, Bangkok, Thailand.
Other Journal Papers
S. Viollet, F. Ruffier, T. Ray, L. Kerhuel, F. Aubépart, N. Franceschini, M. Ménouni (2011) Article in Open-access
Performances of Three Miniature Bio-inspired Optic Flow Sensors under Natural Conditions
Sensors & Transducers journal (ISSN 1726-5479), Vol.10, February 2011, pp.151-159

N. Franceschini, F. Ruffier and J. Serres (2010) Article in Open-access
Insect inspired autopilots
Journal of Aqua Aerial Bio-mechanics, Vol. 1, No 1, pp. 2-10

Nicolas Franceschini, Stéphane Viollet, Franck Ruffier, Julien Serres (2008)
Neuromimetic Robots inspired by Insect Vision
Advances in Science and Technology, Volume: Mining Smartness from Nature, Vol. 58 (Sept. 2008), ISBN: 3-908158-24-9, pp 127-136
Trans Tech Publications , Switzerland

J. Serres, F. Ruffier, S. Viollet and N. Franceschini (2006) Article in Open-access
Toward optic flow regulation for wall-following and centring behaviours
International Journal of Avanced Robotic Systems, Volume 3, Number 2, June 2006, Page 147-154
Book Chapters
Thibaut Raharijaona, Lubin Kerhuel, Julien Serres, Frédéric Roubieu, Fabien Expert, Stéphane Viollet, Franck Ruffier and Nicolas Franceschini (2013) (Accepted)
Insect Inspired Visual Motion Sensing and Flying Robots
Handbook of Biomimetics and Bioinspiration, World Scientific Publishing, (Jabbari et al., eds)

Sabiron G., Chavent P., Burlion L., Kervendal E., Bornschlegl E., Fabiani P., Raharijaona T., Ruffier F. (2013)
Toward an autonomous lunar landing based in low-speed optic flow sensors
Advances in Aerospace Guidance, Navigation and Control, Springer , pages 681-699
Selected Papers of the Second CEAS Specialist Conference on Guidance, Navigation and Control (Editors: Qiping Chu, Bob Mulder, Daniel Choukroun, Erik-Jan van Kampen, Coen de Visser, Gertjan Looye), Springer

Raharijaona T., Sabiron G., Viollet S., Franceschini N., Ruffier F. (2013) (Accepted)
Neuromimetic robots and their possible future applications for asteroid landing
Asteroids. Prospective Energy and Material Resources, Springer-Verlag.

Franceschini, N., Ruffier, F., Serres, J. (2010)
Aerial navigation and optic flow sensing: a biorobotic approach
In: Motor Control: Theories, Experiments, and Applications, F. Danion and M. Latash (Eds.) Oxford Univ. Press, pp. 451-477

Franceschini, N., Ruffier, F., Serres (2010)
Biomimetic Optic Flow Sensors and Autopilots for MAV Guidance
in: Encyclopedia of Aerospace Engineering, (H. Liu, section MAV ed.), John Wiley & Sons, San Francisco, USA

N. Franceschini, F. Ruffier, J. Serres (2009)
Optic flow based autopilots : speed control and obstacle avoidance
in: Flying Insects and Robots
D. Floreano, J.-C. Zufferey, C. Ellington, M.V. Srinivasan, Eds., Springer, Vienna, pp. 29-50

F. Aubépart, J. Serres, A. Dilly, F. Ruffier, N. Franceschini (2009) Chapter in Open-access
Field Programmable Gate Array (FPGA) for Bio-inspired visuo-motor control systems applied to Micro-Air Vehicles
in: Intelligent Aerial Vehicles, In-Tech, Vienna

Nicolas Franceschini, Franck Ruffier, Julien Serres, Stéphane Viollet (2009) Chapter in Open-access
Optic flow based visual guidance: from flying insects to miniature aerial vehicles
in: Intelligent Aerial Vehicles, In-Tech, Vienna

Franceschini, N., Viollet, S, Ruffier, F., Serres J. (2008)
Insect Visually-guided Behavior: Optronics, Neuronics and Nanomechatronics
in: New nanomaterials generation inspired by insects (In Japanese)
Following The Sendai Symposium on Insect Mimetics and Nano Materials
Masatsugu Shimomura, Tateo Shimozawa (Ed.), ISBN 978-4-86043-198-3, Tokyo: NTS Inc., pp. 1-18

F. Ruffier, N. Franceschini (2007)
Un régulateur de flux optique pour le pilotage autonome des micro-aéronefs
Objets volants miniatures - Modélisation et Commande embarquée -, Pages 329-359, sous la direction Rogelio LOZANO, ISBN: 978-2-7462-1466-8
Abstracts in international conferences
F. Ruffier, G. Portelli, J. Serres, S. Viollet, and N. Franceschini (2010)
From Bees' surface following to Lunar landing
ESF Conf. Functional Neurobiology in Minibrains: From Flies to Robots and Back Again
17-22 October 2010, Sant Feliu de Guixols, Spain

F. Expert, S. Viollet, F. Ruffier (2010)
Miniature bio-inspired optic flow sensors
ESF Conf. Functional Neurobiology in Minibrains: From Flies to Robots and Back Again
17-22 October 2010, Sant Feliu de Guixols, Spain

Geoffrey Portelli, Franck Ruffier, Nicolas Franceschini (2010)
Evidence for ventral optic flow regulation in honeybees
Fifth french conference on Computational Neuroscience, Neurocomp2010, Lyon

E. Ogam, F. Ruffier, A. Wirgin, A. Oduor (2010)
Miniaturization of insect-inspired acoustic sensors
J. Acoust. Soc. Am. Volume 127, Issue 3, pp. 1971-1971 (March 2010)
Program abstracts of the Joint 159th Meeting of the Acoustical Society of America

G. Portelli, F. Ruffier, J. Serres, N. Franceschini (2009)
A bee in the corridor: joint speed control and lateral obstacle avoidance
"Visual Processing in Insects: From Anatomy to Behavior" Conf.
Janelia Farm Research, Campus, HHMI (USA)

G. Portelli, J. Serres, F. Ruffier, N.Franceschini (2008)
3D Navigation with an insect-inspired autopilot
Second french conference on Computational Neuroscience, Neurocomp08, pp. 143-146, 8-11 octobre 2008, Marseille

Julien Serres, Franck Ruffier, Nicolas Franceschini (2008)
A bio-inspired optic flow based autopilot for guiding a miniature hovercraft in corridors
Workshop "Visual guidance systems for small autonomous aerial vehicles" during IEEE IROS 2008 Conference, September 22, 2008, Nice

Julien Serres, Franck Ruffier, Guillaume P. Masson, Nicolas Franceschini (2008)
A bee in the corridor: centering and wall-following
Second International Conference on Invertebrate Vision August 1 - 8, 2008
Bäckaskog Castel, Sweden

Portelli G., Ogier M., Ruffier F., Serres J., Franceschini N. (2007)
A Bee in the Corridor: Regulating Lateral OF by Side Control
Flying insects and Robots, August 12 - 17, 2007
Ascona Switzerland

F. Ruffier, J. Serres, G.P. Masson and N. Franceschini (2007)
A bee in the corridor: regulating the optic flow on one side
Abstract n°T14-7B, 31st Göttingen Neurobiology Conference

J. Serres, F. Ruffier, GP. Masson and N. Franceschini (2007)
A bee in the corridor: centring or wall-following ?
Abstract n°T14-8B, 31st Göttingen Neurobiology Conference


Invited conferences
Nicolas Franceschini, Franck Ruffier, Julien Serres (2010)
From insects to robots and back again
ESF Conf. Functional Neurobiology in Minibrains: From Flies to Robots and Back Again
17-22 October 2010, Sant Feliu de Guixols, Spain

N. Franceschini, F. Ruffier, J. Serres (2009)
Controlling navigation by optic flow sensors: the fly automatic pilot par
Progress in Motor Control VII Conference, Marseille

J. Serres, N. Franceschini, F. Ruffier, F. Aubépart (2009)
Bio-inspired optic flow sensors and optic flow based autopilots
NSF USA / China Workshop on bio-inspired smart systems: materials, mechanics, control and sensor innovation
Dalian, China

N. Franceschini, F. Ruffier, J. Serres (2009)
Insect Inspired Autopilots
ISABMEC 2009, 4th International Symposium on Aero Aqua Bio-Mechanisms Shanghai, China
Shanghai, China

Nicolas Franceschini, Franck Ruffier, Julien Serres (2008)
From insects to robots and back
Second International Conference on Invertebrate Vision August 1 - 8, 2008
Bäckaskog Castel, Sweden

Franck Ruffier, Nicolas Franceschini (2008)
Optic flow-based autopilot for navigation in steep relief
Second International Conference on Invertebrate Vision August 1 - 8, 2008
Bäckaskog Castel, Sweden

N. Franceschini, F. Ruffier, J. Serres (2007)
Insects as Pilots: Optic Flow Regulation for Vertical and Horizontal Guidance
Flying inscets and Robots, August 12 - 17, 2007
Ascona Switzerland

F. Ruffier, N. Franceschini, J. Serres (2007)
Vision based autopilot in flies
Visual Processing in Insects: From Anatomy to Behavior April 29 - May 2, 2007
Janelia Farm Research Campus, Howard Hughes Medical Institute

N. Franceschini, F. Ruffier (2004)
Biomimetic autopilot based on fly vision
Symposia "INSECTS AS MACHINES: Biomechanics, Functional Morphology, Sensory Systems & Robotic Applications" (Organisateurs: R. Wootton, M. Srinivasan) at the International Congress of Entomology, August 15 - 21, 2004, Brisbane, Australia

N. Franceschini, S. Viollet, F. Ruffier (2004)
Insect based autopilots for micro-air vehicles
International Conference on "Insect Sensors and Robotics" (Organisateurs: M. Srinivasan, R. Wootton, M. Whitten) , August 23-26, 2004, Brisbanne, Australia
Domestic conferences
Ruffier, F., Serres, J., Portelli, G., Franceschini, N. (2009) 13 pages, Article in Open-access
Boucles visuo-motrices bio-mimétiques pour le pilotage automatique de micro-aéronefs, 13 pages
7ème Journées Nationales de la Recherche en Robotique (JNRR'09), Neuvy-sur-Barangeon, 04-06 novembre 2009

G. Portelli, J. Serres, F. Ruffier, and N. Franceschini (2009)
Pilote automatique bio-inspiré pour la navigation en 3D
7ème Journées Nationales de la Recherche en Robotique (JNRR'09), Neuvy-sur-Barangeon, 04-06 novembre 2009

G. Portelli, J. Serres, F. Ruffier, and N. Franceschini (2009)
Piloting with an insect-based visual autopilot
2009 RTP Bionique meeting, entitled "Moving in fluids for animals and robots: physics, (bio)mechanics, control and perception"

F. Ruffier, J. Serres, N. Franceschini (2009)
Pilotes automatiques biomimétiques : Boucles de rétroaction directes sur le flux optique
Réunion inter GdR MACS et Robotique du GT UAV (ENSAM, Paris)

F. Ruffier, J. Serres, N. Franceschini (2009)
Pilotes automatiques biomimétiques : Boucles de rétroaction directes sur le flux optique
Workshop Drone LSIS / ISM, avec le concours du Pôle de compétitivité PEGASE, de l'Onera et de l'Écoles des Officiers de l'Armée de l'Air
Salon de Provence, France

F. Ruffier, J. Serres, N. Franceschini (2009)
Pilotes automatiques biomimétiques : Boucles de rétroaction directes sur le flux optique
Journées MSI "Matériaux et Structures Intelligentes"
ONERA/DGA (Châtillon, 25 mars 2009)

J. Serres, D. Dray, F. Ruffier, N. Franceschini (2008)
Pilote automatique bio-inspiré basé sur la vision du mouvement
Conférence MajecSTIC Marseille 2008, 29-31 octobre 2008, Manifestation des Jeunes Chercheurs en Sciences et Technologies de l'Information et de la Communication

Julien Serres, Franck Ruffier, et Nicolas Franceschini (2007)
Guidage visuel d'un aéroglisseur miniature dans un corridor
Journées Nationales de la Recherche en Robotique JNRR'07 (Obernai, France, Oct 9-12),

J. Serres, F. Ruffier and N. Franceschini (2005)
Réguler le flux optique latéral pour naviger dans un corridor
Journées Nationales de la Recherche en Robotique JNRR'05 (Guidel, France, Oct 5-7), pp 289-290

F. Ruffier, N. Franceschini (2005)
Décollage, Vol de croisière, Réaction au vent et Atterrissage automatiques d'un robot aérien doté de vision
OPTRO 2005, mai 2005, Min. de la Recherche, Paris 5ème, Colloque internat. organisé par AAAF et EOS.

F. Ruffier, S. Viollet, S. Amic, N. Franceschini (2003)
Circuit et guidage visuels bio-inspirés pour mini-robot aérien
2èmes journées du RTP microrobotique, 3- 4 Décembre 2003, Bourges, ENSI de Bourges

F. Ruffier, N. Franceschini (2003) [Slides in english]
OCTAVE, un système visuel de contrôle automatique de l’altitude pour microdrone
Journées Microdrone 2003, 1 – 3 octobre 2003, Toulouse

F. Ruffier, N. Franceschini (2002)
OCTAVE, système de contrôle bio-inspiré de l'altitude d'un micro-aéronef
1ères journées du RTP microrobotique, 6 et 7 novembre 2002, Rennes, Irisa et ENS Cachan, Antenne de Bretagne

F. Ruffier, N. Franceschini (2002)
Pilotage visuel d’un micro-aéronef
16èmes Journées des Jeunes Chercheurs en Robotique (JJCR’16), Villeurbanne - INSA Lyon

N. Franceschini, T. Netter, S. Viollet, F. Ruffier, F. Aubepart (2002)
Projet européen sur les micro-aéronefs : un défi transdisciplinaire, scientifique et technologique
Journées du programme interdisciplinaire ROBEA, LAAS, Toulouse, oct. 2002

N. Franceschini, T. Netter, S. Viollet, F. Ruffier, F. Aubepart (2002)
Micro-drones biomimétiques,
Journées CNRS/DGA, Arcueil, nov. 2002
French patent and global extension pending
Education

  • February 6, 2013: Habilitation (in French: Habilitation à Diriger des Recherches), Aix-Marseille Université

  • Title (in French) : DE L'INSECTE AUX ROBOTS : OBSERVER, RECONSTRUIRE, INNOVER ET MIEUX COMPRENDRE
    Habilitation (HDR) dissertation committee:
    Dr. JEAN-PAUL LAUMOND, Dir. de recherche CNRS, LAAS-CNRS, Toulouse (Rapporteur)
    Pr. ALI CHARARA, Prof. à l'Univ. de Technologie de Compiègne, HEUDIASYC, Compiègne (Rapporteur)
    Pr. MICHEL DE MATHELIN, Prof. à l'Univ. de Strasbourg, ICUBE (Rapporteur)
    Pr. MARTIN GIURFA, Prof. à l'Univ. Paul Sabatier, CRCA, Toulouse (Examinateur)
    Pr. PHILIPPE FRAISSE, Prof. à l'Univ. Montpellier 2, LIRMM, Montpellier (Président)
    Pr. GILLES MONTAGNE, Prof. à l'Univ. d?Aix-Marseille, ISM, Marseille (Examinateur)
    Dr. JEAN-LOUIS VERCHER, Dir. de recherche CNRS, ISM, Marseille (Examinateur)
    Dr. NICOLAS FRANCESCHINI, Dir. de recherche CNRS Emerite, ISM, Marseille (Examinateur)

  • Since 1st january 2012: Co-Head of the Biorobotics dept., Institute of Movement Sciences, Marseilles with Stéphane Viollet

  • October 2005: CNRS Permanent Researcher at the Biorobotics dept., Institute of Movement Sciences, Marseilles

  • 2004 / 2005: Postdoc position at the Biorobotics dept., Motion and Perception Lab.

  • September, 6th 2004 : PhD at the Biorobotics research group (Nicolas Franceschini), Motion and Perception Lab. Marseilles

  • Title (in French) : Pilote automatique biomimétique - 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-aéronef -
    PhD dissertation committee:
    Pr. G. BOUVIER, Professeur à l'Institut National Polytechnique de Grenoble, Président
    Pr. D. FLOREANO, Professeur à l'École Polytechnique Fédérale de Lausanne, Rapporteur
    MCF R. ZAPATA, Maître de conférences à l'Université de Montpellier II, Rapporteur
    Dr. N. FRANCESCHINI, Directeur de recherches CNRS, Marseille, Directeur de thèse
    Dr. B. ESPIAU, Directeur de Recherche à l'INRIA-Rhône-Alpes, Grenoble, Examinateur
    Dr. S. THORPE, Directeur de Recherche CNRS au Centre de Recherche Cerveau et Cognition (CERCO), Toulouse, Examinateur

  • August 1999 / August 2000 : Exchange student year in Lund (Sweden) with the automatic control department

  • 1999 / 2000 : Master Research Degree (DEA in French) in Automatic Control at ENSIEG / INP Grenoble done in Lund

  • 1995 / 2000 : ESISAR / INP Grenoble Engineering Degree in electronics, automatic control and computer sciences

  • 1995 : High School diploma with dominants in Maths and Physics in "Lycée du val de Saône", Trévoux near Lyons

  • CV (pdf)

     

    Scientific awards
    "ICAR Outstanding paper award" at IEEE ICAR 2003, Coimbra, Portugal
    "ICRA Best vision paper finalist" at IEEE ICRA 2004, New Orleans, USA
    "Prix La Recherche 2005" (french speaking scientist award), N. Franceschini, S. Viollet, F. Ruffier
    "IEEE Sensors 2011, Best Student paper Award, First Prize", Roubieu et al. 2011




    Report, Thesis, Book
    DE L'INSECTE AUX ROBOTS : OBSERVER, RECONSTRUIRE, INNOVER ET MIEUX COMPRENDRE , Habilitation at Aix-Marseille Université defended in february 2013
    Franck RUFFIER, Pilote automatique biomimétique - 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-aéronef - , 200 pages, Editions Universitaires Europeennes (septembre 2010), ISBN-10: 613152534X, ISBN-13: 978-6131525346
    Pilote automatique biomimétique - 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-aéronef - , PhD thesis at INP Grenoble defended in september 2004
    Control of a High Voltage Supply for a Traveling Wave Tube Transmitter Master thesis project done in Lund for Ericsson Microwave System (Mölndal, Sweden)

    Previous works at the Biorobotics department

    Elementary Motion Detector circuit (EMD)
    • Appareil visuel élémentaire pour la navigation à vue d'un robot mobile autonome
    • in French (18Mo)
      Master thesis in Neurosciences (DEA in French), Christian BLANES, June 1986, Univ. Aix-Marseille II,
      "Realisation of Elementary Motion Detector (EMD) electronic circuit" (in French), title of Chapter VI, pp. 25 (thesis pagination) or pp. 30 (pagination in pdf file)
      EMD circuit schematics, pp. -34.1- (thesis pagination) or pp. 40 (pagination in pdf file)

    Robot-Fly (robot-mouche) (De la Mouche au Robot Divx Movies in French)