Guillaume J. Laurent

Microrobotics

New integrated silicon-PDMS process for compliant micro-mechanisms
W. Haouas, R. Dahmouche, J. Agnus, N. L. Fort-Piat & G. J. Laurent (2017), Journal of Micromechanics and Microengineering, 27. [pdf] [video]

Preliminary Results on OCT-based Position Control of a Concentric Tube Robot
Y. Baran, K. Rabenorosoa, G. J. Laurent, P. Rougeot, N. Andreff & B. Tamadazte (2017), Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3000-3005. [pdf] [video]

Compressive Sensing-Based Metrology for Micropositioning Stages Characterization
N. Tan, C. Clévy, G. J. Laurent & N. Chaillet (2016), IEEE Robotics and Automation Letters, 1(2):638-645. [pdf]

4-DoF spherical parallel wrist with embedded grasping capability for minimally invasive surgery
W. Haouas, R. Dahmouche, N. Le Fort-Piat & G. J. Laurent (2016), Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2363-2368. [pdf] [video]

Automated robotic microassembly of flexible optical components
B. Komati, A. Kudryavtsev, C. Clévy, G. Laurent, B. Tamadazte, J. Agnus & P. Lutz (2016), Proc. of the IEEE International Symposium on Assembly and Manufacturing, pp. 93-98. [pdf]

Automated in-plane OCT-probe positioning towards repetitive optical biopsies
M. Ourak, A. De Simone, B. Tamadazte, G. J. Laurent, A. Menciassi & N. Andreff (2016), Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 4186-4191. [pdf] [video]

Stereovision-based control for automated MOEMS assembly
A. V. Kudryavtsev, G. J. Laurent, C. Clévy, B. Tamadazte & P. Lutz (2015), Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1391-1396. [pdf] [video]

Accuracy Quantification and Improvement of Serial Micropositioning Robots for In-Plane Motions
N. Tan, C. Clévy, G. J. Laurent, P. Sandoz & N. Chaillet (2015), IEEE Transactions on Robotics, 31, pp. 1497-1507. [pdf]

Analysis of CAD Model-based Visual Tracking for Microassembly using a New Block Set for MATLAB/Simulink
A. Kudryavtsev, G. J. Laurent, C. Clévy, B. Tamadazte & P. Lutz (2015), International Journal of Optomechatronics, 9(4):295-309. [pdf]

Characterization of Model-based Visual Tracking Techniques for MOEMS using a New Block Set for MATLAB/Simulink
A. V. Kudryavtsev, G. J. Laurent, C. Clévy, B. Tamadazte, & P. Lutz (2014), Proc. of the IEEE Int. Symp. on Optomechatronic Technologies. [pdf]

Characterization and Compensation of XY Micropositioning Robots using Vision and Pseudo-Periodic Encoded Patterns
N. Tan, C. Clévy, G. J. Laurent, P. Sandoz, & N. Chaillet (2014), Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 2819-2824. [pdf]

Characterization of the Positioning Accuracy and Precision of MEMS Die Servoing Using Model-Based Visual Tracking
O. Matusek, V. Hotar, G. J. Laurent, B. Tamadazte & C. Clévy (2014), Applied Mechanics and Materials, 613, pp. 426-433.

Calibration and Validation of XYΘ Micropositioners with Vision
N. Tan, C. Clévy, G. J. Laurent & N. Chaillet (2012), Proc. of the IEEE/ASME Int. Conf on Advanced Intelligent Mechatronics, pp. 256-261. [pdf]

Pattern-based visual measurements

3D-printed vision-based micro-force sensor dedicated to in situ SEM measurements
V. Guelpa, J. S. Prax, Y. Vitry, O. Lehmann, S. Dehaeck, P. Sandoz, C. Clévy, N. L. Fort-Piat, P. Lambert & G. J. Laurent (2017), Proc. of the IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, 424-429. [pdf] [video]

Vision-Based Microforce Measurement with a Large Range-to-Resolution Ratio using a Twin-Scale Pattern
V. Guelpa, G. J. Laurent, P. Sandoz & C. Clévy (2015), IEEE/ASME Transactions on Mechatronics, 20:3148-3156. [pdf]

2D visual micro-position measurement based on intertwined twin-scale patterns
V. Guelpa, P. Sandoz, M. Asmad Vergara, C. Clévy, N. Le~Fort-Piat & Guillaume J. Laurent (2016), Sensors and Actuators A: Physical, 248, pp. 272-280. [pdf]

Single frequency-based visual servoing for microrobotics applications
V. Guelpa, G. J. Laurent, B. Tamadazte, P. Sandoz, N. Le Fort-Piat & C. Clévy (2016), Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 4274-4279. [pdf] [video]

Pattern-based vision for microrobotic manipulators calibration and servoing
V. Guelpa, P. Sandoz, C. Clévy, N. Le Fort-Piat & G. J. Laurent (2016), International Conference on Ubiquitous Robots and Ambient Intelligence, pp. 308-310. [pdf]

Twin-Scale Visual Method for Nanoposition and Microforce Measurements with Large Range-to-Resolution Rati
V. Guelpa, P. Sandoz, C. Clévy, N. Le Fort-Piat & G. J. Laurent (2016), International Conference on Manipulation, Automation and Robotics at Small Scales, July 20, Paris.

In-plane position and orientation measurement of a mobile target by digital holography
M. A. Vergara, M. Jacquot, G. J. Laurent & P. Sandoz (2016), Proc. of the Latin America Optics and Photonics Conference (Optical Society of America). [pdf]

Vision-Based Microforce Measurement with a Large Range-to-Resolution Ratio using a Twin-Scale Pattern
V. Guelpa, G. J. Laurent, P. Sandoz & C. Clévy (2015), IEEE Transactions on Mechatronics, 20(6):3148-3156. [pdf]

Subpixelic Measurement of Large 1D Displacements: Principle, Processing Algorithms, Performances and Software
V. Guelpa, G. J. Laurent, P. Sandoz, J. Galeano Zea & Cédric Clévy (2014), Sensors, 14(3):5056--5073. [pdf]

Twin-scale Vernier Micro-Pattern for Visual Measurement of 1D in-plane Absolute Displacements with Increased Range-to-Resolution Ratio
J. Galeano Zea, P. Sandoz, G. J. Laurent, L. Lopes Lemos & C. Clévy (2013), International Journal of Optomechatronics, 7(3):222--234. [pdf] [url]

Twin-scale Vernier Micro-Pattern for Visual Measurement of 1D in-plane Absolute Displacements with Increased Range-to-Resolution Ratio
J. Galeano Zea, P. Sandoz, G. Laurent, L. Lopes Lemos & C. Clévy (2012), Proc. of the IEEE Int. Symp. on Optomechatronic Technologies, pp. 1-6.

High Dynamics and Precision Optical Measurement Using a Position Sensitive Detector (PSD) in Reflection-Mode: Application to 2D Object Tracking over a Smart Surface
I. A. Ivan, M. Ardeleanu & G. J. Laurent (2012), Sensors, 12(12):16771-16784. [pdf]

The metrology and applications of PSD (position sensitive detector) sensors for microrobotics
I. A. Ivan, M. Ardeleanu, G. J. Laurent, N. Tang & C. Clevy (2012), Proc. of the IEEE Int. Symp. on Optomechatronic Technologies, pp. 1-2.

Distributed manipulation with air flow

Modular Contact-Free Conveyors for Handling Planar Fragile Objects
V. Guelpa, G. J. Laurent, B. Dahroug & N. Le Fort-Piat (2016), IEEE Transactions on Robotics, 33(1):92-101. [pdf] [video]

A survey of non-prehensile pneumatic manipulation surfaces: principles, models and control
G. J. Laurent & H. Moon (2015), Intelligent Service Robotics, Springer, 8(3):151-163. [pdf]

Design, modeling and control of a modular contactless wafer handling system
B. Dahroug, G. J. Laurent, V. Guelpa & N. Le Fort-Piat (2015), Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 976-981, Best Automation Paper Award. [pdf] [video]

Contactless Manipulation with Airflow: from Macro to Micro Devices
G. J. Laurent (2014), in Merging micro and macro manipulation and manufacturing technologies and methods, AIM Workshop, July 7th, Besançon, France. [pdf]

Micropositioning and Fast Transport Using a Contactless Micro-Conveyor
G. J. Laurent, A. Delettre, R. Zeggari, R. Yahiaoui, J.-F. Manceau & N. Le Fort-Piat (2014), Micromachines, 5(1):66-80. [pdf] [video]

A new concept of planar self-reconfigurable modular robot for conveying microparts
B. Piranda, G. J. Laurent, J. Bourgeois, C. Clévy, S. Möbes & N. Le Fort-Piat (2013), IFAC Mechatronics, 23(7):906-915. [pdf]

Robotic microassembly and micromanipulation at FEMTO-ST
J. Agnus, N. Chaillet, C. Clévy, S. Dembélé, M. Gauthier, Y. Haddab, G. Laurent, P. Lutz, N. Piat, K. Rabenorosoa, M. Rakotondrabe & B. Tamadazte (2013), Journal of Micro-Bio Robotics, 8:91-106.

Robust control of a planar manipulator for flexible and contactless handling
A. Delettre, G. J. Laurent, Y. Haddab & N. Le Fort-Piat (2012), Mechatronics, pp. 852-861. [pdf] [video]

Distributed Pneumatic MEMS for Fast Conveyance of Fragile Objects
A. Habibi, E. Dedu, J. Bourgeois, G. J. Laurent & N. Le Fort-Piat, Proc. of the Junior Researcher Workshop on Real-Time Computing (JRWRTC'12), joint to RTNS, pp. 4, 2012.

3-DOF contactless manipulation using potential air flows
A. Delettre, G. J. Laurent, N. Le Fort-Piat & C. Varnier, µControl'12 Workshop, New Trends and Challenges in Modeling and Control of Microsystems, 2012.

3-DOF potential air flow manipulation by inverse modeling control
A. Delettre, G. J. Laurent, N. Le Fort-Piat & C. Varnier (2012), Proc. of the IEEE Int. Conf. on Automation Science and Engineering (CASE'12), pp. 926-931. [pdf] [video]

Toward a 2D Modular and Self-Reconfigurable Robot for Conveying Microparts
S. Möbes, B. Piranda, G. J. Laurent, J. Bourgeois, C. Clévy & N. Le Fort-Piat (2012). Workshop on Design, Control and Software Implementation for Distributed MEMS (dMEMS'12), IEEE CPS, pp. 7-13. [pdf] [video]

2-DOF Contactless Distributed Manipulation Using Superposition of Induced Air Flows
A. Delettre, G. J. Laurent & N. Le Fort-Piat (2011), in Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS'11), pp. 5121-5126. [pdf] [video]

A new aerodynamic traction principle for handling products on an air cushion
G. J. Laurent, A. Delettre & N. Le Fort-Piat (2011), IEEE Transactions on Robotics (T-RO), 27(2):379-384. [pdf] [video]

Distributed control architecture for smart surfaces
K. Boutoustous, G. J. Laurent, E. Dedu, L. Matignon, J. Bourgeois & N. Le Fort-Piat (2010), in Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS'10), pp. 2018-2024. [pdf] [video]

A new contactless conveyor system for handling clean and delicate products using induced air flows
A. Delettre, G. L. Laurent & N. Le Fort-Piat (2010), in Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS'10), pp. 2351-2356. [pdf] [video] 

Designing decentralized controllers for distributed-air-jet MEMS-based micromanipulators by reinforcement learning
L. Matignon, G. J. Laurent, N. Le Fort-Piat & Yves-André Chapuis (2010), Journal of Intelligent and Robotic Systems 59(2):145-166. [pdf]

Mise en pratique de LSPI pour la commande linéaire quadratique adaptative d'une surface de manipulation à coussin d'air actif
G. Laurent (2010), Journées Francophones sur la Planification, la Décision et l'Apprentissage pour la conduite de systèmes (JFPDA'10), 12 p. [pdf] [slides]

Design of semi-decentralized control laws for distributed-air-jet micromanipulators by reinforcement learning
L. Matignon, G. J. Laurent & N. Le Fort-Piat (2009), Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems, pp. 3277-3283. [pdf] 

Decentralized Reinforcement Learning

Apprentissage par renforcement et planification adaptative
B. Zanuttini, G. Laurent & O. Buffet, editors (2013), Revue d'intelligence artificielle, Numéro spécial, Volume 27 N° 2/Mars-Avril, Lavoisier.

Independent Reinforcement Learners In Cooperative Markov Games: A Survey Regarding Coordination Problems
L. Matignon, G. J. Laurent & N. Le Fort-Piat (2012), The Knowledge Engineering Review, 27:1-31. [pdf]

The World of Independent Learners is not Markovian
G. J. Laurent, L. Matignon, & N. Le Fort-Piat (2011), Innovation in Knowledge-Based & Intelligent Engineering Systems, 15(1):55-64. [pdf]

SOaN: un algorithme pour la coordination d'agents apprenants et non communicants
L. Matignon, G. J. Laurent & N. Le Fort-Piat (2009), Journées Francophones sur la Planification, la Décision et l'Apprentissage pour la conduite de systèmes (JFPDA'09), pp. 115-121.

Coordination of independent learners in cooperative Markov games
L. Matignon, G. J. Laurent & N. Le Fort-Piat (2009), Technical report RR-2009-01, Institut FEMTO-ST, Besançon, France.

A study of FMQ heuristic in cooperative multi-agent games
L. Matignon, G. J. Laurent & N. Le Fort-Piat (2008), in Proc. of the Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS'08), Multi-Agent Sequential Decision Making in Uncertain Multi-Agent Domains Workshop, pp. 77-91. [pdf]

Hysteretic Q-Learning : an algorithm for Decentralized Reinforcement Learning in Cooperative Multi-Agent Teams
L. Matignon, G. J. Laurent & N. Le Fort-Piat (2007), in Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS'08), pp. 64-69. [pdf]

Un algorithme décentralisé d'apprentissage par renforcement multi-agents coopératifs : le Q-Learning Hystérétique
L. Matignon, G. J. Laurent & N. Le Fort-Piat (2007), in Journées Francophones sur la Planification, la Décision et l'Apprentissage pour la conduite de systèmes (JFPDA'07), pp. 115-121.

On-Line Learning

On-Line Learning for Micro-Object Manipulation (book chapter)
G. Laurent (2010), in Olivier Sigaud & Olivier Buffet editors, Markov Decision Processes in Artificial Intelligence, Wiley-ISTE. [more]

Apprentissage en ligne de la manipulation de micro-objets (chapitre de livre)
G. Laurent, in Olivier Buffet & Olivier Sigaud ed., Processus décisionnels de Markov en intelligence artificielle~: volume 1, principes généraux et applications, Hermès Science Publications (2008). [more]

Improving Reinforcement Learning Speed for Robot Control
L. Matignon, G. J. Laurent & N. Le Fort-Piat (2006), in Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS'06), pp. 3172-3177. [pdf]

Reward Function and Initial Values: Better Choices for Accelerated Goal-Directed Reinforcement Learning
L. Matignon, G. J. Laurent & N. Le Fort-Piat (2006), in Proc of the Int. Conf. on Artificial Neural Networks (ICANN'06), Lecture Notes in Computer Science (LNCS) 4131:840-849, Springer-Verlag. [pdf]

Apprentissage par renforcement dans le cadre des processus décisionnels de Markov factorisés observables dans le désordre
G. J. Laurent & E. Piat (2006), Revue d'Intelligence Artificielle, Numéro spécial PDM en IA 20, 275-309. [pdf] [video1] [video2] [video3]

Choix de la fonction de renforcement et des valeurs initiales pour accélérer les problèmes d'apprentissage par renforcement de plus court chemin stochastique
L. Matignon, G. J. Laurent & N. Le Fort-Piat (2006), Journées Francophones sur la Planification, la Décision et l'Apprentissage pour la conduite de systèmes (JFPDA'06), pp. 107-114. [pdf]

Learning to control a real micropositioning system in the STM-Q framework
C. Adda, G. J. Laurent & N. Le Fort-Piat (2005), in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA'05), pp. 4580-4585. [pdf] [video] 

BOSAR : Bibliothèque d'Outils Simulink pour l'apprentissage par renforcement
G. Laurent, E. Piat, C. Adda & N. Le Fort-Piat (2005), Journées nationales sur les Processus Décisionnels de Markov et l'Intelligence Artificielle, pp. 108-112. [more]

Micropositioning by pushing with control by reinforcement learning
C. Adda, N. Le Fort-Piat & G. Laurent (2004), in Proc. of the 35th International Symposium on Robotics (ISR'04), 6 p.

Learning to control real systems with parallel Dyna-Q
G. J. Laurent & E. Piat (2003), in Proc. of the European Workshop on Reinforcement Learning (EWRL'03), pp. 45-46.

Micropositionnement d'objets micrométriques commandé par apprentissage par renforcement
C. Adda, G. J. Laurent & N. Le Fort-Piat (2003), Journées Nationales sur les Processus Décisionnels de Markov et Intelligence Artificielle, pp. 40-48.

Dyna-Q Parallèle
G. J. Laurent & E. Piat (2003), in Journées Nationales sur les Processus Décisionnels de Markov et l'Intelligence Artificielle.

Learning Mixed Behaviours with Parallel Q-learning
G. J. Laurent & E. Piat (2002), in Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS'02), pp. 1002-1007. [pdf] [video]

Synthèse de comportements par apprentissages par renforcement parallèles : application à la commande d'un micromanipulateur plan
G. Laurent (2002), PhD thesis, Université de Franche-Comté, Besançon, France. [pdf] [video1] [video2] [video3] [video4] [video5] [video6]

Parallel Q-Learning for a block-pushing problem
G. Laurent & E. Piat (2001), in Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS'01), pp. 286-291. [pdf] [video]

Commande de micromanipulateurs plans par apprentissage par renforcement
G. Laurent & E. Piat (2001), Journées des Jeunes Chercheurs en Robotique (JJCR'01), pp. 20-25.

Control of planar micro-manipulator systems using reinforcement learning
G. Laurent & E. Piat (2001), in Proc. of the Mecatronics 3rd European-Asian Congress, pp. 411-416.

Swimming robot

Conception et modélisation d'un microrobot nageur
G. J. Laurent & E. Piat (2003), Journal Européen des Systèmes Automatisés 37(1), 31-48. [pdf] [video]

Efficiency of Swimming Microrobots using Ionic Polymer Metal Composite Actuators
G. Laurent & E. Piat (2001), in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA'01), pp. 3914-3919. [pdf] [video]

Matlab

Matlab/Simulink pour l'analyse et la commande de systèmes
Yassine Haddab, Bernard Lang and Guillaume Laurent (2010), Techniques de l'ingénieur, S7460:1-16. [more]

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