GRAVIR joint project-team with CNRS, INPG and UJF.
SHARP
Automatic Programming and Decisional Systems in Robotics
Christian Laugier
Type :
Project-Team
SHARP was dissolved on 31 December 2002
Team presentation
The Sharp project focuses its reseach on the study of the
problems posed by modeling and automatic generation of
movement and physical interactions in robotics. The term
robotics is used in the sense that it includes both
real physical machines operating in the real world, and
mobile or articulated object evolving autonomously in
a virtual world that respects the physical laws of the
real world as closely as computationally possible.
Research themes
This research can be subdivided as follows:
algorithms for motion planning (including collision avoidance,
kinematic and dynamic constraints, uncertainty) in the real
or virtual world;
a methodology for the development of decisional
architectures for the control of robots in
dynamic environments that are unknown or only partially known;
models and algorithms for dynamic simulation, i.e. the simulation of
physical interactions of complex, virtual objects (deformations,
collisions, forces...);
tools for geometric modeling and probabilistic
computation, that allow to correctly treat uncertainty and
its impact on inverse problems and problems of interpretation of sensor data (collaboration with http://www-leibniz.imag.fr/leibniz-en.html
Lab. of http://www.imag.fr).
This research has led not only to new, original scientific work, but
also to solutions that have been applied to problems encountered in
industry. Thus, several prototypes have been tested in collaboration
with the http://www.inrialpes.fr/iramr
at http://www.inrialpes.fr
and
certain applications have already been successfully transferred
in industry. Notably this has been the case in robotics CAD
applications and professional video manipulation.
The application areas that are of particular interest to us concern
robotic interventions in hostile or isolated environments emphasizing
the transport and medical aspects. The other application area concerns
movement in the virtual world for virtual reality and multimedia uses.
Participation in European projects Euréka (Prométheus),
Esprit 2 and 3 BRA,
Human Resources and Mobility (Eunet, Héros),
Inco-Copernicus and
http://www.ib.be/intas/.
