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.

Main results (and videos)

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