Publications

Fatigue Mitigation in Human-Robot Repetitive Co-Manipulation: A Planning-Friendly Discretization of The Continuous Action Space
Aya Yaacoub, Vincent Thomas, Francis Colas, and Pauline Maurice.
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Fatigue Mitigation with Cobots: Investigating the Cobot Workspace
Aya Yaacoub, Vincent Thomas, Francis Colas, and Pauline Maurice.
Journée des Jeunes Chercheurs en Robotique. Moliets et Maa, France, October 2023.
BibTeX

Workstation Suitability Maps: Generating Ergonomic Behaviors on a Population of Virtual Humans with Multi-task Optimization
Jacques Zhong, Vincent Weistroffer, Jean-Baptiste Mouret, Francis Colas, and Pauline Maurice.
IEEE Robotics and Automation Letters, IEEE , September 2023, pages 1-8.
PDF – BibTeX – DOI: 10.1109/LRA.2023.3318191

A Probabilistic Model for Cobot Decision Making to Mitigate Human Fatigue in Repetitive Co-manipulation Tasks
Aya Yaacoub, Vincent Thomas, Francis Colas, and Pauline Maurice.
IEEE Robotics and Automation Letters, IEEE , September 2023.
PDF – BibTeX – DOI: 10.1109/LRA.2023.3315583

Monte-Carlo Search for an Equilibrium in Dec-POMDPs
Yang You, Vincent Thomas, Francis Colas, and Olivier Buffet.
The 39th Conference on Uncertainty in Artificial Intelligence (UAI). Pittsburgh, PA, United States, July 2023.
PDF – BibTeX – DOI: 10.48550/arXiv.2305.11811

Multi-task Optimization to Evaluate Workstation Suitability over a Population of Virtual Humans
Jacques Zhong, Pauline Maurice, Vincent Weistroffer, and Francis Colas.
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Robust Robot Planning for Human-Robot Collaboration
Yang You, Vincent Thomas, Francis Colas, Rachid Alami, and Olivier Buffet.
2023 IEEE International Conference on Robotics and Automation (ICRA), pages 9793-9799. London, United Kingdom, May 2023. IEEE.
PDF – BibTeX – DOI: 10.1109/ICRA48891.2023.10161406

Duration Models for Human Activity Prediction
Nima Mehdi, Vincent Thomas, Serena Ivaldi, and Francis Colas.
Pre-print, 2023.
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Probabilistic planning for cobots to mitigate fatigue in repetitive comanipulation
Aya Yaacoub, Vincent Thomas, Francis Colas, and Pauline Maurice.
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BibTeX

Duration Models for Human Activity Prediction in Industry-Like Tasks
Nima Mehdi, Vincent Thomas, Serena Ivaldi, and Francis Colas.
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A quality-diversity approach to study the impact of human morphology in physics-based virtual workstations
Jacques Zhong, Pauline Maurice, Vincent Weistroffer, and Francis Colas.
JJCR 2022 – Journée des Jeunes Chercheurs et Jeunes Chercheuses en Robotique. Paris, France, November 2022.
BibTeX

Simultaneous Pose and Posture Estimation with a Two-stage Particle Filter for Visuo-inertial Fusion
Nima Mehdi, Vincent Thomas, Serena Ivaldi, and Francis Colas.
IEEE International Conference on Advanced Robotics and Mechatronics (ICARM 2022). Guilin, China, July 2022.
PDF – BibTeX – DOI: 10.1109/ICARM54641.2022.9959293

Planification robuste pour la collaboration homme-robot
Yang You, Vincent Thomas, Rachid Alami, Francis Colas, and Olivier Buffet.
Journées Francophones Planification, Décision et Apprentissage (JFPDA). Saint Etienne (FR), France, June 2022.
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Interacting with a torque-controlled virtual human in virtual reality for ergonomics studies
Jacques Zhong, Vincent Weistroffer, Pauline Maurice, Claude Andriot, and Francis Colas.
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PDF – BibTeX – DOI: 10.1109/VRW55335.2022.00190

Solving infinite-horizon Dec-POMDPs using Finite State Controllers within JESP
Yang You, Vincent Thomas, Francis Colas, and Olivier Buffet.
ICTAI 2021 – IEEE 33rd International Conference on Tools with Artificial Intelligence, pages 427-434. Washington/virtual, United States, November 2021. IEEE.
BibTeX – DOI: 10.1109/ICTAI52525.2021.00069

A Bayesian tracker for synthesizing mobile robot behaviour from demonstration
Stéphane Magnenat and Francis Colas.
Autonomous Robots, Springer Verlag, October 2021.
PDF – BibTeX – DOI: 10.1007/s10514-021-10019-4

Prise en compte de la variabilité morphologique de l’opérateur dans des tâches de montage simulées en réalité virtuelle
Jacques Zhong, Pauline Maurice, Francis Colas, and Vincent Weistroffer.
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Solving infinite-horizon Dec-POMDPs using Finite State Controllers within JESP
Yang You, Vincent Thomas, Francis Colas, and Olivier Buffet.
Pre-print, September 2021.
BibTeX

Résolution de Dec-POMDP à horizon infini à l’aide de contrôleurs à états finis dans JESP
Yang You, Vincent Thomas, Francis Colas, and Olivier Buffet.
JFPDA 2021 – Journées Francophones Planification, Décision et Apprentissage. Bordeaux (virtuel), France, June 2021.
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Motion planning for robot audition
van Quan Nguyen, Francis Colas, Emmanuel Vincent, and François Charpillet.
Autonomous Robots, Springer Verlag, December 2019, 43(8), pages 2293-2317.
PDF – BibTeX – DOI: 10.1007/s10514-019-09880-1

Activity Recognition for Ergonomics Assessment of Industrial Tasks with Automatic Feature Selection
Adrien Malaisé, Pauline Maurice, Francis Colas, and Serena Ivaldi.
IEEE Robotics and Automation Letters, IEEE , January 2019, 4(2), pages 1132-1139.
PDF – BibTeX – DOI: 10.1109/LRA.2019.2894389

Prediction of Human Whole-Body Movements with AE-ProMPs
Oriane Dermy, Maxime Chaveroche, Francis Colas, François Charpillet, and Serena Ivaldi.
IEEE-RAS 18th International Conference on Humanoid Robots (HUMANOIDS 2018), pages 572-579. Beijing, China, November 2018.
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Online Human Activity Recognition for Ergonomics Assessment
Adrien Malaisé, Pauline Maurice, Francis Colas, and Serena Ivaldi.
SIAS 2018 – 9ème conférence internationale sur la sécurité des systèmes industriels automatisés. Nancy, France, October 2018.
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Online Human Activity Recognition for Ergonomics Assessment
Adrien Malaisé, Pauline Maurice, Francis Colas, and Serena Ivaldi.
JNRH 2018 – Journées Nationales de la Robotique Humanoïde. Nancy, France, June 2018.
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Activity Recognition With Multiple Wearable Sensors for Industrial Applications
Adrien Malaisé, Pauline Maurice, Francis Colas, François Charpillet, and Serena Ivaldi.
ACHI 2018 – Eleventh International Conference on Advances in Computer-Human Interactions. Rome, Italy, March 2018.
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Modélisation bayésienne et robotique
Francis Colas.
Habilitation, Université de Lorraine, May 2017.
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Long-term robot motion planning for active sound source localization with Monte Carlo tree search
Quan Nguyen Van, Francis Colas, Emmanuel Vincent, and François Charpillet.
HSCMA 2017 – Hands-free Speech Communication and Microphone Arrays . San Francisco, United States, March 2017.
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Localization of inexpensive robots with low-bandwidth sensors
Shiling Wang, Francis Colas, Ming Liu, Francesco Mondada, and Stéphane Magnenat.
13th International Symposium on Distributed Autonomous Robotic Systems. London, United Kingdom, November 2016.
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Localizing an intermittent and moving sound source using a mobile robot
van Quan Nguyen, Francis Colas, Emmanuel Vincent, and François Charpillet.
International Conference on Intelligent Robots and Systems (IROS). Deajeon, South Korea, October 2016.
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Modèles probabilistes formels pour problèmes cognitifs usuels
Pierre Bessière, Julien Diard, and Francis Colas.
Intellectica – La revue de l’Association pour la Recherche sur les sciences de la Cognition (ARCo), Association pour la Recherche sur la Cognition, June 2016, Nouvelles approches en robotique cognitive, 65(1), pages 111-141.
PDF – BibTeX – DOI: 10.3406/intel.2016.1792

Probabilistic sensor data processing for robot localization on load-sensing floors
Maxime Rio, Francis Colas, Mihai Andries, and François Charpillet.
IEEE International Conference on Robotics and Automation (ICRA). Stockholm, Sweden, May 2016.
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Relaxing the planar assumption: 3D state estimation for an autonomous surface vessel
Gregory Hitz, François Pomerleau, Francis Colas, and Roland Siegwart.
The International Journal of Robotics Research, SAGE Publications, November 2015, 34(13), pages 1604-1621.
PDF – BibTeX – DOI: 10.1177/0278364915583680

Robust Data Fusion of Multi-modal Sensory Information for Mobile Robots
Vladimír Kubelka, Lorenz Oswald, François Pomerleau, Francis Colas, Tomas Svoboda, and Michal Reinstein.
Journal of Field Robotics, Wiley, June 2015, 32(4), pages 447—473.
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Incremental topological segmentation for semi-structured environments using discretized GVG
Ming Liu, Francis Colas, Luc Oth, and Roland Siegwart.
Autonomous Robots, Springer Verlag, February 2015, 38(2), pages 143—160.
PDF – BibTeX – DOI: 10.1007/s10514-014-9398-8

TRADR Project: Long-Term Human-Robot Teaming for Robot Assisted Disaster Response
Ivana Kruijff-Korbayová, Francis Colas, Koen Hindriks, Mark Neerincx, Petter Ögren, Mario Gianni, Tomáš Svoboda, and Rainer Worst.
KI – Künstliche Intelligenz, Springer Nature, 2015, 29(2), pages 193—201.
PDF – BibTeX – DOI: 10.1007/s13218-015-0352-5

A Review of Point Cloud Registration Algorithms for Mobile Robotics
François Pomerleau, Francis Colas, and Roland Siegwart.
Foundations and Trends in Robotics, Now Publishers, 2015, 4(1), pages 1—104.
PDF – BibTeX – DOI: 10.1561/2300000035

Long-term 3D map maintenance in dynamic environments
François Pomerleau, Philipp Krüsi, Francis Colas, Paul Furgale, and Roland Siegwart.
IEEE International Conference on Robotics and Automation (ICRA). Hong-kong, China, 2014.
PDF – BibTeX – DOI: 10.1109/ICRA.2014.6907397

State Estimation for Shore Monitoring Using an Autonomous Surface Vessel
Gregory Hitz, François Pomerleau, Francis Colas, and Roland Siegwart.
International Symposium on Experimental Robotics (ISER). Marrakech, Morocco, 2014.
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Designing, developing, and deploying systems to support human–robot teams in disaster response
Geert Kruijff, Ivana Kruijff-Korbayová, Shanker Keshavdas, Benoit Larochelle, Miroslav Janíček, Francis Colas, Ming Liu, François Pomerleau, Roland Siegwart, Mark Neerincx, Rosemarijn Looije, Nanja Smets, Tina Mioch, Jurriaan van Diggelen, Fiora Pirri, Mario Gianni, Federico Ferri, Matteo Menna, Rainer Worst, Thorsten Linder, Varoslav Tretyakov, Hartmut Surmann, Tomas Svoboda, Michal Reinstein, Karel Zimmermann, Tomas Petříček, and Vaclav Hlaváč.
Advanced Robotics, Taylor & Francis, 2014, 28(23), pages 1547—1570.
PDF – BibTeX – DOI: 10.1080/01691864.2014.985335

Comparing ICP variants on real-world data sets Open-source library and experimental protocol
François Pomerleau, Francis Colas, Roland Siegwart, and Stéphane Magnenat.
Autonomous Robots, Springer Verlag, 2013, 34(3), pages 133—148.
PDF – BibTeX – DOI: 10.1007/s10514-013-9327-2

3D path planning and execution for search and rescue ground robots
Francis Colas, Srivatsa Mahesh, François Pomerleau, Ming Liu, and Roland Siegwart.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 722—727. Tokyo, Japan, 2013.
PDF – BibTeX – DOI: 10.1109/IROS.2013.6696431

Functional Mapping: Spatial Inferencing to Aid Human-Robot Rescue Efforts in Unstructured Disaster Environments
Shanker Keshavdas, Hendrik Zender, Geert Kruijff, Ming Liu, and Francis Colas.
2012 AAAI Spring Symposium on Designing Intelligent Robots. Stanford, United States, 2012.
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Towards Non-Parametric Bayesian Learning of Robot Behaviors from Demonstration
Stéphane Magnenat, Cédric Pradalier, and Francis Colas.
NIPS Workshop on “Bayesian Nonparametric Models (BNPM) For Reliable Planning And Decision-Making Under Uncertainty”. Lake Tahoe, United States, 2012.
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Normal estimation for pointcloud using GPU based sparse tensor voting
Ming Liu, François Pomerleau, Francis Colas, and Roland Siegwart.
IEEE International Conference on Robotics and Biomimetics (Robio). Guangzhou, China, 2012.
PDF – BibTeX – DOI: 10.1109/ROBIO.2012.6490949

Challenging data sets for point cloud registration algorithms
François Pomerleau, Ming Liu, Francis Colas, and Roland Siegwart.
The International Journal of Robotics Research, SAGE Publications, 2012, 31(14), pages 1705—1711.
PDF – BibTeX – DOI: 10.1177/0278364912458814

Noise characterization of depth sensors for surface inspections
François Pomerleau, Andreas Breitenmoser, Ming Liu, Francis Colas, and Roland Siegwart.
2nd International Conference on Applied Robotics for the Power Industry (CARPI). Zurich, Switzerland, 2012.
PDF – BibTeX – DOI: 10.1109/CARPI.2012.6473358

Designing Intelligent Robots for Human-Robot Teaming in Urban Search & Rescue
Geert Kruijff, Francis Colas, Tomáš Svoboda, Jurriaan van Diggelen, Patrick Balmer, Fiora Pirri, and Rainer Worst.
AAAI 2012 Spring Symposium on Designing Intelligent Robots. Stanford, United States, 2012.
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Experience in System Design for Human-Robot Teaming in Urban Search & Rescue
Geert Kruijff, Miroslav Janícek, Shanker Keshavdas, Benoit Larochelle, Hendrik Zender, Nanja Smets, Tina Mioch, Mark Neerincx, Jurriaan van Diggelen, Francis Colas, Ming Liu, François Pomerleau, Roland Y. Siegwart, Václav Hlaváč, Tomáš Svoboda, Tomas Petricek, Michal Reinstein, Karel Zimmermann, Fiora Pirri, Mario Gianni, Panagiotis Papadakis, Arnab Sinha, Patrick Balmer, Nicola Tomatis, Rainer Worst, Thorsten Linder, Hartmut Surmann, Varoslav Tretyakov, Salvatore Corrao, Sylvia Pratzler-Wanczura, and Markus Sulk.
8th International Conference on Field and Service Robotics (FSR 2012). Matsushima, Japan, 2012.
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A Markov semi-supervised clustering approach and its application in topological map extraction
Ming Liu, Francis Colas, François Pomerleau, and Roland Siegwart.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vilamoura, Portugal, 2012.
PDF – BibTeX – DOI: 10.1109/IROS.2012.6385683

Tracking a depth camera: Parameter exploration for fast ICP
François Pomerleau, Stéphane Magnenat, Francis Colas, Ming Liu, and Roland Siegwart.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). San Francisco, United States, 2011.
PDF – BibTeX – DOI: 10.1109/IROS.2011.6048545

Regional topological segmentation based on mutual information graphs
Ming Liu, Francis Colas, and Roland Siegwart.
IEEE International Conference on Robotics and Automation (ICRA). Shangai, China, 2011.
PDF – BibTeX – DOI: 10.1109/ICRA.2011.5979672

Towards Adaptive Robotic Green Plants
Janine Stocker, Aline Veillat, Stéphane Magnenat, Francis Colas, and Roland Siegwart.
Towards Autonomous Robotic Systems, pages 422—423. Sheffield, United Kingdom, 2011.
PDF – BibTeX – DOI: 10.1007/978-3-642-23232-9_58

Learning user habits for semi-autonomous navigation using low throughput interfaces
Xavier Perrin, Francis Colas, Cédric Pradalier, Roland Siegwart, Ricardo Chavarriaga, and José del R. Millán.
IEEE International Conference on Systems, Man, and Cybernetics (SMC). Anchorage, United States, 2011.
PDF – BibTeX – DOI: 10.1109/ICSMC.2011.6083633

Towards a benchmark for RGB-D SLAM evaluation
Jürgen Sturm, Stéphane Magnenat, Nikolas Engelhard, François Pomerleau, Francis Colas, Daniel Cremers, Roland Siegwart, and Wolfram Burgard.
RGB-D Workshop on Advanced Reasoning with Depth Cameras at Robotics: Science and Systems Conf.(RSS). Los Angeles, United States, 2011.
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A Unified Framework for Planning and Execution-Monitoring of Mobile Robots
Mario Gianni, Panagiotis Papadakis, Fiora Pirri, Liu Ming, Francois Pomerleau, Francis Colas, Karel Zimmermann, Tomas Svoboda, Tomas Petricek, Geert Kruijff, Harmish Khambhaita, and Hendrik Zender.
Workshops at the Twenty-Fifth AAAI Conference on Artificial Intelligence. San Francisco, United States, 2011.
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Maximum entropy perception-action space: a Bayesian model of eye movement selection
Francis Colas, Pierre Bessière, and Benoît Girard.
30th Conf. on Bayesian Methods and Maximum Entropy in Science and Engineering (MaxEnt2010). Chamonix, France, July 2010.
PDF – BibTeX – DOI: 10.1063/1.3573660

Common bayesian models for common cognitive issues
Francis Colas, Julien Diard, and Pierre Bessiere.
Acta Biotheoretica, Springer Verlag, 2010, 58(2-3), pages 191-216.
PDF – BibTeX – DOI: 10.1007/s10441-010-9101-1

Relative Motion Threshold for Rejection in ICP Registration
François Pomerleau, Francis Colas, François Ferland, and François Michaud.
Field and Service Robotics. Cambridge, United States, July 2009.
PDF – BibTeX – DOI: 10.1007/978-3-642-13408-1_21

Learning to identify users and predict their destination in a robotic guidance application
Xavier Perrin, Francis Colas, Cedric Pradalier, and Roland Y. Siegwart.
Field and Service Robotics. Cambridge, United States, June 2009.
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Bayesian models of eye movement selection with retinotopic maps.
Francis Colas, Fabien Flacher, Thomas Tanner, Pierre Bessiere, and Benoît Girard.
Biological Cybernetics (Modeling), Springer Verlag, March 2009, 100(3), pages 203-14.
PDF – BibTeX – DOI: 10.1007/s00422-009-0292-y

Explicit uncertainty for eye movement selection
Francis Colas, Fabien Flacher, Pierre Bessiére, and Benoît Girard.
Deuxième conférence française de Neurosciences Computationnelles, “Neurocomp08”. Marseille, France, October 2008.
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Bayesian Modelling of Perception of Structure from Motion
Francis Colas, Pierre Bessière, Jacques Droulez, and Marc Wexler.
Probabilistic Reasoning and Decision Making in Sensory-Motor Systems, springer, 2008, pages 301-328.
BibTeX

A unified probabilistic model of the perception of three-dimensional structure from optic flow
Francis Colas, Jacques Droulez, Marc Wexler, and Pierre Bessière.
Biological Cybernetics (Modeling), Springer Verlag, 2008, pages 132—154.
PDF – BibTeX – DOI: 10.1007/s00422-007-0183-z

Bayesian Programming: life science modeling and robotics applications
Pierre Bessière and Francis Colas.
ISRR. Japan, 2007.
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Perception of shapes from motion<br />Bayesian combination of optic flow and self-motion
Francis Colas.
Ph.D. thesis, Institut National Polytechnique de Grenoble – INPG, January 2006.
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A unified probabilistic model of the perception of three-dimensionnal structure from optic flow
Francis Colas, Jacques Droulez, Mark Wexler, and Pierre Bessiere.
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Expressing Bayesian Fusion as a Product of Distributions: Applications in Robotics
Cédric Pradalier, Francis Colas, and Pierre Bessière.
IEEE, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), number 2 in Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on, pages 1851—1856. Las Vegas, United States, 2003.
PDF – BibTeX – DOI: 10.1109/IROS.2003.1248913

Expressing Bayesian Fusion as a Product of Distributions: Application to Randomized Hough Transform
Cédric Pradalier, Francis Colas, and Pierre Bessiere.
, pages x. 2003.
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