COntrol and PERception for autonomous Navigation and Inter vehicles Cooperation
COPERNIC Lab is a research laboratory at ONERA developing algorithms and embedded solutions for ground and aerial robotic systems.
Research topics of COPERNIC Lab are multi sensor fusion, geometric vision for ego-localisation and 3D modeling, guidance and control, cooperative estimation and control of multi-vehicle systems, sensor/processing co-design.
COPERNIC Lab's activities also include hardware engineering (sensor integration, embedded computing solutions on real platforms) to be able to produce proofs of concept in realistic experimental robotic contexts.
2023: Curved Surface Inspection by a Climbing Robot Path Planning Approach for Aircraft Applications
2023: Real-world Integration of Semantic Mapping for Ground Robot Navigation in Unstructured Environments
2023: SMaNa: Semantic Mapping and Navigation Architecture for Autonomous Robots
2023: A Multi-Robot System for 3D Surface Reconstruction with Centralized and Distributed Architectures
2022: Safe Distributed Control for Human-Multi-Robot Swarming using Voronoi Partioning
2022: Online Localisation and Colored Mesh Reconstruction Architecture for 3D Visual Feedback in Robotic Exploration Missions
2022: Path Planning Incorporating Semantic Information for Autonomous Robot Navigation
2021: Rendezvous in formation of underactuated UAVs with connectivity maintenance and inter-agent collision avoidance
2021: Distributed Full-Consensus Control of Multi-Robot Systems with Range and Field of View Constraints
2020: AirMuseum: a heterogeneous multi-robot dataset for stereo-visual and inertial SLAM
2020: Voronoi-based geometric distributed fleet control of a multi-robot system
2020: Next-Best-View planning for surface reconstruction of large-scale 3D environments with multiple UAV
2020: MAV tele-operation constrained on virtual surfaces for inspection of infrastructures (ONERA-Altametris- SNCF Réseau research partnership)
2020: Sim-to-Real Transfer with Incremental Environment Complexity for Reinforcement Learning of Depth-Based Robot Navigation
2019: ROS-based tools for managing fleets of autonomous robots
2019: Multi-robot exploration system relying on vision-based TSDF mapping
2018: Assisted tele-operation for inspection in indoor environment on a reference trajectory with obstacle avoidance (ONERA-Altametris-SNCF Réseau research partnership)
2017: Live demonstration of vision-based autonomous flight at IFAC World Congress, Toulouse, France.
2017: Autonomous explorations in a cluttered environment representative of a power-substation and in degraded illumination conditions (EuroC Showcasing Task)
2016: Autonomous volume exploration and mobile object detection and avoidance (EuroC Freestyle Task at ETHZ)
2016: Flight demonstrations in an industrial warehouse of autonomous MAV missions including automatic inspection, static and mobile obstacle avoidance (ONERA-Altametris-SNCF Réseau research partnership)
2016: Collaborative localization and formation flight using distributed stereo-vision
2015: Demonstration of NaVi system "Navigation from Vision", control and navigation based vision for autonomous MAVs (ONERA-Altametris-SNCF Réseau research partnership)
2015: Multi-agent global extremum seeking using Kriging (Gaussian processes)
2014: EiffelTeam (COPERNIC Lab and ISIR-UPMC University) ranks 2nd tie in the "Plant servicing and inspection" Challenge of the European Robotic Contest (EuRoC)
2014: Autonomous exploration based on vision by a ground robot
2013: eVO (stereoscopic visual odometry software) ranks 1st at Kitty challenge (urban navigation)
2012: Demonstration of 3DSCAN, embedded solution for MAV self localization and environnement modeling