Research
algorithms and architectures for decision-making in multi-robot systems
Research Topics
Hybrid planning (i.e., mixing hierarchical planning and partial-order planning) and replanning for MRS [Bechon et al., 2020]
Multi-Robot Task Allocation (e.g., constraint-based [Habibi et al., 2019], decentralized [Milot et al., 2021; Quinton et al., 2022])
Human-MRS interaction and mixed decision-making [Lesire et al., 2022]
Selected Publications
Charles Lesire, Rafael Bailon-Ruiz, Magali Barbier & Christophe Grand. "A Hierarchical Deliberative Architecture Framework based on Goal Decomposition". IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan (2022). doi: 10.1109/IROS47612.2022.9981488
Félix Quinton, Christophe Grand & Charles Lesire. "Communication-Preserving Bids in Market-Based Task Allocation". IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan (2022). doi: 10.1109/IROS47612.2022.9981699
Antoine Milot, Estelle Chauveau, Simon Lacroix & Charles Lesire. "Market-based Multi-robot coordination with HTN planning". IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic (2021). doi: 10.1109/IROS51168.2021.9636286
Patrick Bechon, Charles Lesire, & Magali Barbier. "Hybrid planning and distributed iterative repair for multi-robot missions with communication losses". Autonomous Robots 44, 505–531 (2020). doi: 10.1007/s10514-019-09869-w
Muhammad Khakim Habibi, Christophe Grand, Charles Lesire & Cédric Pralet. "Solving Methods for Multi-Robot Missions Planning with Energy Capacity Consideration". IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada (2019). doi: 10.1109/ICRA.2019.8793700
formal models for robot-level and task-level programming
Research Topics
Domain Specific Languages for Robot-Level Programming
Real-Time Middlewares for Robotics
Real-Time Analysis for Software Architectures
Task-Level Programming using Petri Net Algebra
The objective of this work has been to propose methodologies to support the development of dependable component-based software architectures for autonomous robots.
The first achievements on this topic lead to the development of the MAUVE Toolchain, including tools for embedded code generation, application deployment, runtime trace measurements, and trace analysis [Gobillot et al., 2019].
Last achievements including a toolchain for the development and analysis of Skill-based layers, including model-checking of the specification language, translation to Petri nets for more model-checking, code generation and runtime monitoring [Albore et al., 2023].
I also worked on using Petri net models to design mission behaviours of autonomous robots [Lesire and Pommereau, 2020].
Selected Publications
Alexandre Albore, David Doose, Christophe Grand, Jérémie Guiochet, Charles Lesire, & Augustin Manecy. "Skill-based design of dependable robotic architectures". Robotics and Autonomous Systems, 160, (2023). doi: 10.1016/j.robot.2022.104318
Nicolas Gobillot, Charles Lesire, & David Doose. "A Design and Analysis Methodology for Component-Based Real-Time Architectures of Autonomous Systems". Journal of Intelligent and Robotic Systems, 96, 123–138 (2019). doi: 10.1007/s10846-018-0967-5
Charles Lesire & Franck Pommereau. "ASPiC: An Acting System Based on Skill Petri Net Composition". IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid (2018). doi: 10.1109/IROS.2018.8594328