Guillaume Researcher at Inria, in the Gamble team, I work on algebraic approach to geometric and robotic problems. After defending my PhD on parametric system in 2008 at University Pierre and Marie Curie, I did a post-doctoral internship at the computer algebra system company Maplesoft. Then I had a post-doctoral position in the robotic laboratory IRCCyN. As undergrad, I also did an internship on protein folding with stochastic approach at Stanford university. I joined Inria in 2010.

I’m interested in polynomial equations and inequalities and algebraic methods for problems arising in Discrete and Computational Geometry and Robotics.

Full vitae: [pdf].

Publications

2018

  • Workspace, Joint space and Singularities of a family of Delta-Like Robot. Ranjan Jha, Damien Chablat, Luc Baron, Fabrice Rouillier, Guillaume Moroz. Mechanism and Machine Theory, vol. 127, pages 73-95, 2018. [doi] [hal]

  • Monotone Simultaneous Paths Embeddings in d. David Bremner, Olivier Devillers, Marc Glisse, Sylvain Lazard, Giuseppe Liotta, Tamara Mchedlidze, Guillaume Moroz, Sue Whitesides, Stephen Wismath. Discrete Mathematics and Theoretical Computer Science, vol. 20(1), pages 1-11, 2018. [doi] [hal] [pdf]

2017

  • Reliable location with respect to the projection of a smooth space curve. Rémi Imbach, Guillaume Moroz, Marc Pouget. Research Report, 2017. [hal]

  • Computing effectively stabilizing controllers for a class of nD systems. Yacine Bouzidi, Thomas Cluzeau, Guillaume Moroz, Alban Quadrat. IFAC-PapersOnLine, vol. 50(1), pages 1847 - 1852, 2017. [doi] [hal] [pdf]

2016

  • Quadric Arrangement in Classifying Rigid Motions of a 3D Digital Image. Kacper Pluta, Guillaume Moroz, Yukiko Kenmochi, Pascal Romon. The 18th International Workshop on Computer Algebra in Scientific Computing, vol. 9890, pages 426 - 443, 2016. [doi] [hal] [pdf]

  • Influence of the trajectory planning on the accuracy of the orthoglide 5-axis. Ranjan Jha, Damien Chablat, Fabrice Rouillier, Guillaume Moroz. ASME International Design Engineering Technical Conference and the Computer and Information in Engineering Conference (IDETC/CIE), 2016. [doi] [hal]

  • A Fast Algorithm for Computing the Truncated Resultant. Guillaume Moroz, Éric Schost. ISSAC ’16, pages 341-348, 2016. [doi] [hal]

  • Computing the Distance between Piecewise-Linear Bivariate Functions. Guillaume Moroz, Boris Aronov. ACM Transactions on Algorithms, vol. 12(1), pages 3:1-3:13, 2016. [doi] [hal]

  • A certified numerical algorithm for the topology of resultant and discriminant curves. Rémi Imbach, Guillaume Moroz, Marc Pouget. Journal of Symbolic Computation, vol. 80, Part 2, pages 285-306, 2016. [doi] [hal]

  • Solving bivariate systems using Rational Univariate Representations. Yacine Bouzidi, Sylvain Lazard, Guillaume Moroz, Marc Pouget, Fabrice Rouillier, Michael Sagraloff. Journal of Complexity, vol. 37, pages 34-75, 2016. [doi] [hal] [pdf]

2015

  • Numeric and Certified Isolation of the Singularities of the Projection of a Smooth Space Curve. Rémi Imbach, Guillaume Moroz, Marc Pouget. Proceedings of the 6th International Conferences on Mathematical Aspects of Computer and Information Sciences, 2015. [doi] [hal]

  • An algebraic method to check the singularity-free paths for parallel robots. Ranjan Jha, Damien Chablat, Fabrice Rouillier, Guillaume Moroz. International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, 2015. [doi] [hal]

  • Workspace and Singularity analysis of a Delta like family robot. Ranjan Jha, Damien Chablat, Fabrice Rouillier, Guillaume Moroz. 4th IFTOMM International Symposium on Robotics and Mechatronics, 2015. [doi] [hal]

  • Improved algorithms for solving bivariate systems via Rational Univariate Representations. Yacine Bouzidi, Sylvain Lazard, Guillaume Moroz, Marc Pouget, Fabrice Rouillier, Michael Sagraloff. Research Report, 2015. [hal]

  • Numeric certified algorithm for the topology of resultant and discriminant curves. Rémi Imbach, Guillaume Moroz, Marc Pouget. Research Report, 2015. [hal] [pdf]

2014

  • Workspace and joint space analysis of the 3-RPS parallel robot. Damien Chablat, Ranjan Jha, Fabrice Rouillier, Guillaume Moroz. ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, vol. Volume 5A, pages 1-10, 2014. [doi] [hal]

  • Improved algorithm for computing separating linear forms for bivariate systems. Yacine Bouzidi, Sylvain Lazard, Guillaume Moroz, Marc Pouget, Fabrice Rouillier. ISSAC - 39th International Symposium on Symbolic and Algebraic Computation, 2014. [doi] [hal]

  • Non-singular assembly mode changing trajectories in the workspace for the 3-RPS parallel robot. Damien Chablat, Ranjan Jha, Fabrice Rouillier, Guillaume Moroz. 14th International Symposium on Advances in Robot Kinematics, pages 149 - 159, 2014. [doi] [hal]

2013

  • Fast polynomial evaluation and composition. Guillaume Moroz. Technical Report, 2013. [hal] [pdf]

  • The monotonicity of f-vectors of random polytopes. Olivier Devillers, Marc Glisse, Xavier Goaoc, Guillaume Moroz, Matthias Reitzner. Electronic Communications in Probability, vol. 18(23), pages 1-8, 2013. [doi] [hal] [pdf]

2012

  • Infinite Boltzmann Samplers and Applications to Branching Processes. Olivier Bodini, Guillaume Moroz, Hanane Tafat-Bouzid. GASCom - 8th edition of the conference GASCom on random generation of combinatorial structures - 2012, 2012. [hal] [pdf]

  • Solution regions in the parameter space of a 3-RRR decoupled robot for a prescribed workspace. Damien Chablat, Guillaume Moroz, Vigen Arakelian, Sébastien Briot, Philippe Wenger. Advances in Robot Kinematics, pages 1-8, 2012. [doi] [hal] [pdf]

  • A Six-Dof Epicyclic-Parallel Manipulator. Chao Chen, Thibault Gayral, Stéphane Caro, Damien Chablat, Guillaume Moroz, Sajeeva Abeywardena. Journal of Mechanisms and Robotics, vol. 4(4), pages 041011-1-8, 2012. [hal] [pdf]

  • Computing the Distance between Piecewise-Linear Bivariate Functions. Guillaume Moroz, Boris Aronov. SODA - Proceedings of the Twenty-Third Annual ACM-SIAM Symposium on Discrete Algorithms - 2012, 2012. [doi] [hal] [pdf]

  • The monotonicity of f-vectors of random polytopes. Olivier Devillers, Marc Glisse, Xavier Goaoc, Guillaume Moroz, Matthias Reitzner. Research Report, pages 10, 2012. [hal] [pdf]

  • Cusp Points in the Parameter Space of Degenerate 3-RPR Planar Parallel Manipulators. Montserrat Manubens, Guillaume Moroz, Damien Chablat, Philippe Wenger, Fabrice Rouillier. Journal of Mechanisms and Robotics, pages 1-10, 2012. [doi] [hal] [pdf]

2011

  • Properness Defects of Projection and Minimal Discriminant Variety. Guillaume Moroz. Journal of Symbolic Computation, vol. 46(10), pages 1139 - 1157, 2011. [doi] [hal]

  • A comparative study of 4-cable planar manipulators based on cylindrical algebraic decomposition. Damien Chablat, Erika Ottaviano, Guillaume Moroz. Proceedings of the ASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, pages 1-10, 2011. [doi] [hal]

  • The assembly modes of rigid 11-bar linkages. Ioannis Z. Emiris, Guillaume Moroz. IFToMM 2011 World Congress, 2011. [hal]

  • Uniqueness domains and non singular assembly mode changing trajectories. Damien Chablat, Guillaume Moroz, Philippe Wenger. International Conference on Robotics and Automation, pages 1-6, 2011. [doi] [hal]

2010

  • Singularity Analysis of a Six-dof Parallel Manipulator using Grassmann-Cayley Algebra and Gröbner Bases. Stéphane Caro, Guillaume Moroz, Thibault Gayral, Damien Chablat, Chao Chen. Proceedings of an International Symposium on the Occasion of the 25th Anniversary of the McGill University Centre for Intelligent Machines, pages 341-352, 2010. [hal]

  • On the determination of cusp points of 3-RPR parallel manipulators. Guillaume Moroz, Fabrice Rouillier, Damien Chablat, Philippe Wenger. Mechanism and Machine Theory, vol. 45(11), pages 1555-1567, 2010. [doi] [hal]

  • Cusp points in the parameter space of RPR-2PRR parallel manipulators. Guillaume Moroz, Damien Chablat, Philippe Wenger, Fabrice Rouillier. 3rd European Conference on Mechanism Science : EUCOMES 2010, vol. 5, pages 29-37, 2010. [doi] [hal] [pdf]

2008

  • On the real and algebraic decomposition of parametric systems. Guillaume Moroz. Theses, 2008. [hal]

  • Classification of the perspective-three-point problem, discriminant variety and real solving polynomial systems of inequalities. Jean-Charles Faugère, Guillaume Moroz, Fabrice Rouillier, Mohab Safey El Din. ISSAC 2008 - 21st International Symposium on Symbolic and Algebraic Computation, pages 79-86, 2008. [doi] [hal]

2007

  • Regular Decompositions. Guillaume Moroz. Computer Mathematics: 8th Asian Symposium, ASCM 2007, Revised and Invited Papers, vol. 5081, pages 263-277, 2007. [doi] [hal]

2006

  • Complexity of the Resolution of Parametric Systems of Polynomial Equations and Inequations. Guillaume Moroz. International Symposium on Symbolic and Algebraic Computation, pages 246-253, 2006. [doi] [hal]

  • Complexity of Resolution of Parametric Systems of Polynomial Equations and Inequations. Guillaume Moroz. Research Report, 2006. [hal]

Software

fast_polynomial

Cette bibliothèque d’environ 2000 lignes écrite en cython est destinée à un large public (chercheur, ingénieur). Après compilation du polynôme à évaluer, l’évaluation est autant ou plus rapide que les différents logiciels spécialisés dans l’évaluation rapide et la composition rapide de polynômes (FLINT, Maple, Magma, etc.). De plus, il est conçu pour être aisément extensible par d’autres utilisateurs.

Siropa Toolbox

Cette bibliothèque d’environ 7500 lignes écrites en Maple s’adresse à des chercheurs en robotique, dans le but de les aider à décrire les configurations de mécanismes insolubles par d’autres programmes. Ce programme est basé sur des algorithmes symboliques et est complémentaire d’autres programmes comme ALIAS (analyse par intervalles), SinguLab (algèbre de Grassmann-Cayley).

RD

Ce logiciel permet de décomposer un système d’équations polynomiales en composantes equidimensionelles. Chaque composante en sortie est représentée sous la forme d’une liste d’équations et une liste d’inéquations. La codimension d’une composante est exactement le nombre de polynômes de la liste équations. De plus, en dehors des zéros des inéquations, les zéros des équations coïncident avec la composante.

DV

Ce package Maple traite les sytèmes d’équations et inéquations polynomiales dépendant de paramètres. Depuis la version 12 de Maple, ce programme est intégré à la bibliothèque RootFinding[Parametric]. Il permet la résolution certifiée de systèmes paramétrés polynomiaux.

Contact

INRIA Nancy-Grand Est
615, rue du Jardin botanique
54600, Villers-lès-Nancy
France
E-mail : guillaume.moroz@inria.fr
Phone : (+33) 3 83 59 30 35
Fax : (+33) 3 83 27 83 19
Office : B170

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