Simon Rohou

Passionate about underwater robotics for over thirteen years, I defended a Franco-British PhD thesis about localization methods for underwater robots with set-membership approaches. See more.

Mobile robotics motivates the study of new methods to deal with dynamical systems using a constraint programming approach. I recently finished a postdoctoral research on this topic at IMT Atlantique/LS2N (Nantes, France).

I am currently an associate professor of robotics at ENSTA Bretagne (Brest, France) and member of the PRASYS team in the research laboratory Lab-STICC.

CV: download (french version, December 2018)
Links: GoogleScholar, ResearchGate, HAL, arXiv, GitHub

PhD thesis on mobile robotics

Subject: Reliable robot localization: a constraint-programming approach over dynamical systems
Joint PhD between: ENSTA Bretagne/Lab-STICC (France), The University of Sheffield (England)
Funding: Direction Générale de l'Armement (DGA, France)
Thesis defended on Monday, 11 December 2017.

Update (August 2019): the thesis is about
to be published as a book at ISTE Group

Download the thesis reports
Download the slides

★ Award of the best PhD thesis in 2017 by the French research community in robotics
Speech (in English) during the award ceremony, 22/11/2018, at CNRS headquarters (Paris):

Academic publications

Set-membership state estimation by solving data association Simon Rohou, Benoît Desrochers, Luc Jaulin
Currently in submission (ICRA conference).
Reliable robot localization: a constraint-programming approach over dynamical systems Simon Rohou, Luc Jaulin, Lyudmila Mihaylova, Fabrice Le Bars, Sandor M. Veres
Book, to be published at ISTE Group, 2019. ★
Proving the existence of loops in robot trajectories Simon Rohou, Peter Franek, Clément Aubry, Luc Jaulin
Published in The International Journal of Robotics Research, 2018. ■ Download preprint. Bibtex. . More.
Reliable non-linear state estimation involving time uncertainties Simon Rohou, Luc Jaulin, Lyudmila Mihaylova, Fabrice Le Bars, Sandor M. Veres
Published in Automatica, 2018. ■ Download preprint. Bibtex. . More.
Guaranteed computation of robot trajectories Simon Rohou, Luc Jaulin, Lyudmila Mihaylova, Fabrice Le Bars, Sandor M. Veres
Published in Robotics and Autonomous Systems, 2017. ■ Download preprint. Bibtex. . More. ★

Talks

26/07/2019 SWIM 2019 (Palaiseau, France) Verifying loops in robot trajectories under uncertainties. Abstract. Slides.
28/06/2019 French underwater/marine robotics day (Paris, France) Set-membership terrain based navigation. Slides. Video.
21/06/2019 National Days of Robotics Teaching (Toulouse, France) Robotics and hydrographer engineers explore the Guerlédan lake. Abstract. Slides.
26/04/2019 LS2N seminar (Nantes, France) Set-membership terrain based navigation. Slides. Video.
23/04/2019 IBEX days (Nantes, France) The Tubex library. Slides.
03/12/2018 (invited keynote) IEEE OES Conference, USYS’18 (Wuhan, China) Localizing underwater robots with a new bathymetric SLAM approach. Slides.
22/11/2018 ★ Best Thesis Award (GdR Robotique) (Paris, France) Presentation of the thesis during the French Robotics Workshop. Slides. Video.
16/11/2018 JAMACS 2018 (Nantes, France) Verifying loops in robot trajectories under uncertainties. Slides.
12/09/2018 SCAN 2018 (Tokyo, Japan) Dealing with evaluation constraints in uncertain dynamical systems. Abstract. Slides.
27/07/2018 SWIM 2018 (Rostock, Germany) Reliable propagation of time uncertainties in dynamical systems. Abstract. Slides.
12/07/2018 OGRE seminar (Nantes, France) Reliable propagation of time uncertainties in dynamical systems. Slides.
05/04/2018 LS2N seminar (Nantes, France) A temporal approach for the SLAM problem. Slides.
26/01/2018 PhD thesis presentation (Sheffield, UK) Reliable robot localization: a constraint programming approach over dynamical systems. Abstract. Slides.
11/12/2017 PhD thesis defence (Brest, France) Reliable robot localization: a constraint programming approach over dynamical systems. Abstract. Slides.
06/07/2017 IST-Austria Seminar (Wien, Austria) Topological degree theory for loop proof purposes. Slides.
30/06/2017 Talk at IMT Atlantique (Nantes, France) Reliable loop-based localization in very poor environments. Slides.
03/03/2017 ANR Contredo - kickoff (Montpellier, France) Contractor programming over trajectories. Slides.
07/02/2017 TOMS Seminar (Brest, France) A reliable way to compute robot trajectories. Slides.
17/01/2017 DSTL visit (Porton Down, UK) Tube programming applied to underwater localization. Slides.
26/09/2016 SCAN 2016 (Uppsala, Sweden) Tube programming applied to state estimation. Abstract. Slides.
30/06/2016 SHARC 2016 (Brest, France) An overview of the MOOS-IvP middleware. Abstract. Slides.
28/06/2016 Dependability of Complex Robotic Systems (Brest, France) Guaranteed computation of robots trajectories. Slides.
24/06/2016 PRASYS Seminar (Brest, France) Collaborative localization over the seabed: a Walking Strategy. Slides.
09/03/2016 GdR Robotique (Montpellier, France) Wide underwater area exploration with autonomous vehicles: a Walking Strategy. Slides.
16/07/2015 OSM Seminar (Brest, France) Robot localization in an unknown but symmetric environment. Slides.
10/06/2015 SWIM 2015 (Praha, Czech Republic) Robot localization in an unknown but symmetric environment. Abstract. Slides.

Guerlédan project

I am co-leader of the Guerlédan Project that gathers, twice a year, ENSTA Bretagne's students from Robotics and Hydrography-Oceanography around Guerlédan Lake (Brittany, France).

This offers to the students some unique opportunity to work on realistic challenges involving autonomous robots, hydrographic sensors and nautical resources deployed in such complex environment.

Various issues are dealt with, such as underwater dam inspection, black-box research, hydrographic survey, 3d reconstruction of floodgates, etc.

Software

I am developing the Tubex library: a C++ project providing tools to guarantee computations over sets of trajectories.
See more on the official webpage.

Consortium

Member of the Contredo project (ANR), that gathers several academic and industrial partners with the aim of designing a software tool based on intervals to handle dynamical systems.

Contact

Office M026
ENSTA Bretagne
2, rue François Verny
29806 Brest Cédex 9
Tél: +33(0)2 98 34 87 66

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