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  • Rural Digital Europe
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  • Hal-Diderot

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  • Authors: Fabien Girard; Christine Frison; Christine Noiville;

    International audience; The chapter aims to re-contextualize the polarity between the commodification and decommodification of seeds, highlighting reactions and resistances to market pressures. It begins by discussing the emergence of the seed market and its main drivers, such as the biotechnological revolution, intellectual property rights, and the consolidation of the seed industry. The chapter then emphasizes that discontent with changes in agricultural production and economic integration has primarily led to discussions on so-called market failures rather than restricting market transactions. The preservation of public goods, specifically innovation and crop diversity, through the handling of purportedly market failures, has remained a key focus.Additionally, the chapter explores proposals advocating for the radical decommodification of seeds. This perspective aligns with research in ethics and economics on the concept of noxious markets. By examining the ethical and economic aspects of seeds as commodities, the exploration of decommodification (through “open source” and commons-based initiatives) aims to challenge the prevailing market-driven approach to seed production and seed provisioning. The chapter closes with a discussion on the coexistence between market society and peasant farming, examining the feasibility and desirability of maintaining control over innovations and agricultural production models while resisting the complete commodification of seeds.

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    Authors: M. Ida Idayu, B.; Ashayer Soltani, Maryam; Enayati, Amin; Aliakbarian, H.; +2 Authors

    The exploration of electromagnetic wave applications in agriculture reveals a diverse landscape with numerous possibilities. This comprehensive review delineates these applications, segregating them into two primary categories: post-harvest indoor applications and pre-harvest outdoor applications. In the realm of post-harvest indoor applications, various methodologies have been documented in the existing literature. These encompass techniques aimed at enhancing post-harvest preservation, quality maintenance, and pest management. However, despite the wealth of proposed applications, there exists a notable gap between theoretical propositions and their industrial implementation. The need for further research and development persists, aiming to bridge this chasm and facilitate the practical industrialization of these methods. Conversely, within the domain of pre-harvest outdoor applications, electromagnetic waves find use in diverse capacities. These applications span crop management, soil treatment, and pest control, among others. Despite the existing array of suggested methodologies, there remains substantial untapped potential. Refinement and standardization of these methods could vastly benefit agricultural practices, contributing to increased efficiency and sustainability. It's evident that while electromagnetic wave applications in agriculture hold promise, their widespread industrial adoption is still in progress. However, these methods exhibit particular promise in scenarios where alternative techniques pose higher costs or hazards. The potential for leveraging electromagnetic waves in agriculture, especially in specialized contexts, presents an avenue for optimizing agricultural practices and addressing challenges where conventional methods fall short. Further exploration and refinement of these applications could lead to significant strides in agricultural innovation and sustainability.

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    Other literature type . 2023
    License: CC BY
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    Hal-Diderot
    Other literature type . 2010
    Data sources: Hal-Diderot
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    Other literature type . 2023
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      Hal-Diderot
      Other literature type . 2010
      Data sources: Hal-Diderot
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    Authors: Rémy Guyonneau; Franck Mercier; Gabriel Freitas Oliveira Freitas;

    International audience; This paper presents a navigation approach for autonomous agricultural robots based on LiDAR data. This navigation approach is divided into two parts: a line finding algorithm and a control algorithm. The paper proposes several line finding algorithms (based on PEARL/Ruby approach) that extract lines from a LiDAR data set. Once the lines have been processed from the data set, a control algorithm filters these lines and, using a fuzzy controller, generates the wheel speed commands to move the robot among the crop rows. This navigation approach was tested using a simulator built on ROS middle-ware and Gazebo (the source codes of the simulation are available on GitHub). The results of the simulated experiments show that the proposed approach performs well for a large range of crop configurations (with or without considering weeds, with or without holes in the crop rows…).

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    Sensors
    Other literature type . Article . 2022 . Peer-reviewed
    License: CC BY
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    Sensors
    Article . 2022
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    Sensors
    Article . 2022
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  • Authors: Berger-Douce, Sandrine; Vilette, Marc-André; Elbousserghini, Jalila;

    This chapter proposes an original analysis of the subtle reconciliation of digital transformation and responsible management within a French family-owned small business named "Les Bougies de Charroux". The research aims to understand better how digital transformation and CSR practices can be reconciled in artisanal family SMEs to work as levers of competitiveness. To achieve this aim, a systemic approach to strategic alignment resulting from the management of Information Systems is followed. The authors formulate a few key points to better support artisanal family SMEs in their digital transformation without denying their values and the specifics of their corporate culture. The study's findings relate to the issue of time. Another interesting conclusion refers to the need to involve all the actors in strategic change induced by digital transformation. International audience

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    Authors: Kamdem, Maxime; Tounsi, Gilles; Yodjin, Fabrice;

    La végétation de la région de l'Ouest est essentiellement composée de savane, dont la savane arborée, qui est prédominante, constitue la principale source de bois d'énergie de cuisson des ménages. La présente étude a pour objectif d'analyser l'apport des foyers améliorés sur la préservation de la végétation à l'Ouest Cameroun. Afin d'évaluer cette contribution, l'on a en premier lieu réalisé une analyse spatiale, décrivant l'état de la végétation dans cette région, et en second lieu, évalué l'apport de l'usage des foyers améliorés sur la protection de la savane. L'étude indique qu'entre 2005 et 2015, la superficie de la savane a régressé de 818 300 hectares (8 183km 2), du fait de la pression humaine. Cette régression serait ainsi en partie contenue, si une substitution d'un foyer à trois pierres par un foyer amélioré à bois était réalisable au sein de chaque ménage. Celle-ci conduirait à une économie de 1 648Kgs de bois par ménage par an, correspondant à une superficie de 15 614,8 hectares de savane préservée par an. The vegetation of the west region is mainly composed of savannah, of which wood from the tree savannah, predominant in this region, constitutes the main source of cooking energy for households. The aim of this study is to analyze the contribution of improved cooking stoves on the preservation of vegetation in west Cameroon. In order to assess this contribution, we first carried out a spatial analysis, describing the state of the vegetation in this region, and secondly, evaluated the contribution of the use of improved cooking stoves on the protection of the savannah. The study indicates that between 2005 and 2015, the area of the savannah decreased by 818,300 hectares (8,183 km2), due to human pressure. This regression would thus be partly contained, if a substitution of a three-stone stove by an improved cooking stove was feasible within each household. This would lead to a saving of 1,648 kg of wood per household per year, corresponding to an area of 15,614.8 hectares of savannah preserved per year.

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    European Scientific Journal
    Article . 2022 . Peer-reviewed
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    Other literature type . 2021
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    Authors: Gamal ElMasry; Nasser S. Mandour; Yahya Ejeez; Didier Demilly; +4 Authors

    Abstract This study aimed to set a computer-integrated multichannel spectral imaging system as a high-throughput phenotyping tool for the analysis of individual cowpea seeds harvested at different developmental stages. The changes in germination capacity and variations in moisture, protein and different sugars during twelve stages of seed development from 10 to 32 days after anthesis were non-destructively monitored. Multispectral data at 20 discrete wavelengths in the ultraviolet, visible and near infrared regions were extracted from individual seeds and then modelled using partial least squares regression and linear discriminant analysis (LDA) models. The developed multivariate models were accurate enough for monitoring all possible changes occurred in moisture, protein and sugar contents with coefficients of determination in prediction R p 2 of 0.93, 0.80 and 0.78 and root mean square errors in prediction (RMSEP) of 6.045%, 2.236% and 0.890%, respectively. The accuracy of PLS models in predicting individual sugars such as verbascose and stachyose was reasonable with R p 2 of 0.87 and 0.87 and RMSEP of 0.071% and 0.485%, respectively; but for the prediction of sucrose and raffinose the accuracy was relatively limited with R p 2 of 0.24 and 0.66 and RMSEP of 0.567% and 0.045%, respectively. The developed LDA model was robust in classifying the seeds based on their germination capacity with overall correct classification of 96.33% and 95.67% in the training and validation datasets, respectively. With these levels of accuracy, the proposed multichannel spectral imaging system designed for single seeds could be an effective choice as a rapid screening and non-destructive technique for identifying the ideal harvesting time of cowpea seeds based on their chemical composition and germination capacity. Moreover, the development of chemical images of the major constituents along with classification images confirmed the usefulness of the proposed technique as a non-destructive tool for estimating the concentrations and spatial distributions of moisture, protein and sugars during different developmental stages of cowpea seeds.

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    Crop Journal
    Article . 2022 . Peer-reviewed
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    Hal-Diderot
    Article . 2021
    Data sources: Hal-Diderot
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      Hal-Diderot
      Article . 2021
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    Authors: Alexandre Constantin; Mathieu Fauvel; Stéphane Girard;

    The classification of irregularly sampled Satellite image time-series (SITS) is investigated in this paper. A multivariate Gaussian process mixture model is proposed to address the irregular sampling and the multivariate nature of the time-series. The spectral and temporal correlation is handled using a Kronecker structure on the covariance operator of the Gaussian process. The multivariate Gaussian process mixture model allows both for the classification of time-series and the imputation of missing values. Experimental results on simulated and real SITS data illustrate the importance of taking into account the spectral correlation to ensure a good behavior in terms of classification accuracy and reconstruction errors. International audience

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    Statistics and Computing
    Article . 2022 . Peer-reviewed
    License: Springer TDM
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    Authors: Coppola, Marcello; Noaille, Louis; Pierlot, Clément; Ouvinha De Oliveira, Rachel; +6 Authors

    With a turnover of more than 4.2 billion euros in 2020 and a 20% share in the value of the French wine industry's exports, the champagne industry represents a considerable weight in the French economy. In this context of significant economic development, the issue of climate change has been added, calling into question the practices and means of production of the sector. The challenges related to global warming and an ever-increasing demand for yield can be addressed using the Internet of Things (IoT) and Artificial Intelligence (AI) technologies to benefit champagne production and answer these challenges. This article presents a solution to optimise Vranken Pommery products' quality and make environmentally friendly decisions by using intelligent sensors distributed as close as possible to the production and storage facilities to collect data. These sensors use LoRaWAN technology and protocol to communicate. The system integrates components capable of hosting artificial intelligence algorithms and using advanced microcontrollers that allow for intelligent communication network implementation while reducing power consumption and deployment costs. International audience

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    https://doi.org/10.1201/978100...
    Part of book or chapter of book . 2022 . Peer-reviewed
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    Other literature type . 2021
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      https://doi.org/10.1201/978100...
      Part of book or chapter of book . 2022 . Peer-reviewed
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    Authors: Roberto Minerva; Faraz Malik Awan; Noel Crespi;

    International audience; The Digital Twin has the ability to store historical and current data about the physical object. In IoT, the concept of general-purpose sensing is aiming at determining a set of basic sensing capabilities from which deriving, by means of Artificial Intelligence algorithms and techniques (termed Synthetic Sensing), relevant information for describing an environment. This paper explores the possible relationships and the feasibility of integration of Synthetic Sensing within a Digital Twin framework. The relevant concepts and associated technologies, the challenges, and some of the enabled scenarios that this integration can bring are presented. This approach is in its infancy and there is a strong need to validate and assess its viability, feasibility, and benefits. The paper identifies some challenges and validation steps that can lead to consolidation and broad adoption of this approach. Finally, the paper presents some future work that aiming at proving the approach.

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    IEEE Internet Computing
    Article . 2022 . Peer-reviewed
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      IEEE Internet Computing
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    Authors: Florent Lamiraux; Joseph Mirabel;

    This paper presents a software platform tailored for prehensile manipulation planning named Humanoid Path Planner. The platform implements an original way of modeling manipulation planning through a constraint graph that represents the numerical constraints that define the manipulation problem. We propose an extension of the RRT algorithm to manipulation planning that is able to solve a large variety of problems. We provide replicable experimental results via a docker image that readers may download to run the experimental results by themselves. International audience

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    IEEE Transactions on Robotics
    Article . 2022 . Peer-reviewed
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  • Authors: Fabien Girard; Christine Frison; Christine Noiville;

    International audience; The chapter aims to re-contextualize the polarity between the commodification and decommodification of seeds, highlighting reactions and resistances to market pressures. It begins by discussing the emergence of the seed market and its main drivers, such as the biotechnological revolution, intellectual property rights, and the consolidation of the seed industry. The chapter then emphasizes that discontent with changes in agricultural production and economic integration has primarily led to discussions on so-called market failures rather than restricting market transactions. The preservation of public goods, specifically innovation and crop diversity, through the handling of purportedly market failures, has remained a key focus.Additionally, the chapter explores proposals advocating for the radical decommodification of seeds. This perspective aligns with research in ethics and economics on the concept of noxious markets. By examining the ethical and economic aspects of seeds as commodities, the exploration of decommodification (through “open source” and commons-based initiatives) aims to challenge the prevailing market-driven approach to seed production and seed provisioning. The chapter closes with a discussion on the coexistence between market society and peasant farming, examining the feasibility and desirability of maintaining control over innovations and agricultural production models while resisting the complete commodification of seeds.

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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: M. Ida Idayu, B.; Ashayer Soltani, Maryam; Enayati, Amin; Aliakbarian, H.; +2 Authors

    The exploration of electromagnetic wave applications in agriculture reveals a diverse landscape with numerous possibilities. This comprehensive review delineates these applications, segregating them into two primary categories: post-harvest indoor applications and pre-harvest outdoor applications. In the realm of post-harvest indoor applications, various methodologies have been documented in the existing literature. These encompass techniques aimed at enhancing post-harvest preservation, quality maintenance, and pest management. However, despite the wealth of proposed applications, there exists a notable gap between theoretical propositions and their industrial implementation. The need for further research and development persists, aiming to bridge this chasm and facilitate the practical industrialization of these methods. Conversely, within the domain of pre-harvest outdoor applications, electromagnetic waves find use in diverse capacities. These applications span crop management, soil treatment, and pest control, among others. Despite the existing array of suggested methodologies, there remains substantial untapped potential. Refinement and standardization of these methods could vastly benefit agricultural practices, contributing to increased efficiency and sustainability. It's evident that while electromagnetic wave applications in agriculture hold promise, their widespread industrial adoption is still in progress. However, these methods exhibit particular promise in scenarios where alternative techniques pose higher costs or hazards. The potential for leveraging electromagnetic waves in agriculture, especially in specialized contexts, presents an avenue for optimizing agricultural practices and addressing challenges where conventional methods fall short. Further exploration and refinement of these applications could lead to significant strides in agricultural innovation and sustainability.

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    Other literature type . 2023
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      Other literature type . 2010
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    Authors: Rémy Guyonneau; Franck Mercier; Gabriel Freitas Oliveira Freitas;

    International audience; This paper presents a navigation approach for autonomous agricultural robots based on LiDAR data. This navigation approach is divided into two parts: a line finding algorithm and a control algorithm. The paper proposes several line finding algorithms (based on PEARL/Ruby approach) that extract lines from a LiDAR data set. Once the lines have been processed from the data set, a control algorithm filters these lines and, using a fuzzy controller, generates the wheel speed commands to move the robot among the crop rows. This navigation approach was tested using a simulator built on ROS middle-ware and Gazebo (the source codes of the simulation are available on GitHub). The results of the simulated experiments show that the proposed approach performs well for a large range of crop configurations (with or without considering weeds, with or without holes in the crop rows…).

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    Sensors
    Other literature type . Article . 2022 . Peer-reviewed
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    Sensors
    Article . 2022
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    Sensors
    Article . 2022
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  • Authors: Berger-Douce, Sandrine; Vilette, Marc-André; Elbousserghini, Jalila;

    This chapter proposes an original analysis of the subtle reconciliation of digital transformation and responsible management within a French family-owned small business named "Les Bougies de Charroux". The research aims to understand better how digital transformation and CSR practices can be reconciled in artisanal family SMEs to work as levers of competitiveness. To achieve this aim, a systemic approach to strategic alignment resulting from the management of Information Systems is followed. The authors formulate a few key points to better support artisanal family SMEs in their digital transformation without denying their values and the specifics of their corporate culture. The study's findings relate to the issue of time. Another interesting conclusion refers to the need to involve all the actors in strategic change induced by digital transformation. International audience

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    Authors: Kamdem, Maxime; Tounsi, Gilles; Yodjin, Fabrice;

    La végétation de la région de l'Ouest est essentiellement composée de savane, dont la savane arborée, qui est prédominante, constitue la principale source de bois d'énergie de cuisson des ménages. La présente étude a pour objectif d'analyser l'apport des foyers améliorés sur la préservation de la végétation à l'Ouest Cameroun. Afin d'évaluer cette contribution, l'on a en premier lieu réalisé une analyse spatiale, décrivant l'état de la végétation dans cette région, et en second lieu, évalué l'apport de l'usage des foyers améliorés sur la protection de la savane. L'étude indique qu'entre 2005 et 2015, la superficie de la savane a régressé de 818 300 hectares (8 183km 2), du fait de la pression humaine. Cette régression serait ainsi en partie contenue, si une substitution d'un foyer à trois pierres par un foyer amélioré à bois était réalisable au sein de chaque ménage. Celle-ci conduirait à une économie de 1 648Kgs de bois par ménage par an, correspondant à une superficie de 15 614,8 hectares de savane préservée par an. The vegetation of the west region is mainly composed of savannah, of which wood from the tree savannah, predominant in this region, constitutes the main source of cooking energy for households. The aim of this study is to analyze the contribution of improved cooking stoves on the preservation of vegetation in west Cameroon. In order to assess this contribution, we first carried out a spatial analysis, describing the state of the vegetation in this region, and secondly, evaluated the contribution of the use of improved cooking stoves on the protection of the savannah. The study indicates that between 2005 and 2015, the area of the savannah decreased by 818,300 hectares (8,183 km2), due to human pressure. This regression would thus be partly contained, if a substitution of a three-stone stove by an improved cooking stove was feasible within each household. This would lead to a saving of 1,648 kg of wood per household per year, corresponding to an area of 15,614.8 hectares of savannah preserved per year.

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    European Scientific Journal
    Article . 2022 . Peer-reviewed
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    Hyper Article en Ligne
    Other literature type . 2021
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    Authors: Gamal ElMasry; Nasser S. Mandour; Yahya Ejeez; Didier Demilly; +4 Authors

    Abstract This study aimed to set a computer-integrated multichannel spectral imaging system as a high-throughput phenotyping tool for the analysis of individual cowpea seeds harvested at different developmental stages. The changes in germination capacity and variations in moisture, protein and different sugars during twelve stages of seed development from 10 to 32 days after anthesis were non-destructively monitored. Multispectral data at 20 discrete wavelengths in the ultraviolet, visible and near infrared regions were extracted from individual seeds and then modelled using partial least squares regression and linear discriminant analysis (LDA) models. The developed multivariate models were accurate enough for monitoring all possible changes occurred in moisture, protein and sugar contents with coefficients of determination in prediction R p 2 of 0.93, 0.80 and 0.78 and root mean square errors in prediction (RMSEP) of 6.045%, 2.236% and 0.890%, respectively. The accuracy of PLS models in predicting individual sugars such as verbascose and stachyose was reasonable with R p 2 of 0.87 and 0.87 and RMSEP of 0.071% and 0.485%, respectively; but for the prediction of sucrose and raffinose the accuracy was relatively limited with R p 2 of 0.24 and 0.66 and RMSEP of 0.567% and 0.045%, respectively. The developed LDA model was robust in classifying the seeds based on their germination capacity with overall correct classification of 96.33% and 95.67% in the training and validation datasets, respectively. With these levels of accuracy, the proposed multichannel spectral imaging system designed for single seeds could be an effective choice as a rapid screening and non-destructive technique for identifying the ideal harvesting time of cowpea seeds based on their chemical composition and germination capacity. Moreover, the development of chemical images of the major constituents along with classification images confirmed the usefulness of the proposed technique as a non-destructive tool for estimating the concentrations and spatial distributions of moisture, protein and sugars during different developmental stages of cowpea seeds.

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    Crop Journal
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    Article . 2021
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      Crop Journal
      Article . 2022 . Peer-reviewed
      License: CC BY NC ND
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      Hal-Diderot
      Article . 2021
      Data sources: Hal-Diderot
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    Authors: Alexandre Constantin; Mathieu Fauvel; Stéphane Girard;

    The classification of irregularly sampled Satellite image time-series (SITS) is investigated in this paper. A multivariate Gaussian process mixture model is proposed to address the irregular sampling and the multivariate nature of the time-series. The spectral and temporal correlation is handled using a Kronecker structure on the covariance operator of the Gaussian process. The multivariate Gaussian process mixture model allows both for the classification of time-series and the imputation of missing values. Experimental results on simulated and real SITS data illustrate the importance of taking into account the spectral correlation to ensure a good behavior in terms of classification accuracy and reconstruction errors. International audience

    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ INRIA a CCSD electro...arrow_drop_down
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    Statistics and Computing
    Article . 2022 . Peer-reviewed
    License: Springer TDM
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    Authors: Coppola, Marcello; Noaille, Louis; Pierlot, Clément; Ouvinha De Oliveira, Rachel; +6 Authors

    With a turnover of more than 4.2 billion euros in 2020 and a 20% share in the value of the French wine industry's exports, the champagne industry represents a considerable weight in the French economy. In this context of significant economic development, the issue of climate change has been added, calling into question the practices and means of production of the sector. The challenges related to global warming and an ever-increasing demand for yield can be addressed using the Internet of Things (IoT) and Artificial Intelligence (AI) technologies to benefit champagne production and answer these challenges. This article presents a solution to optimise Vranken Pommery products' quality and make environmentally friendly decisions by using intelligent sensors distributed as close as possible to the production and storage facilities to collect data. These sensors use LoRaWAN technology and protocol to communicate. The system integrates components capable of hosting artificial intelligence algorithms and using advanced microcontrollers that allow for intelligent communication network implementation while reducing power consumption and deployment costs. International audience

    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ https://doi.org/10.1...arrow_drop_down
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    https://doi.org/10.1201/978100...
    Part of book or chapter of book . 2022 . Peer-reviewed
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    Other literature type . 2021
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      https://doi.org/10.1201/978100...
      Part of book or chapter of book . 2022 . Peer-reviewed
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    Authors: Roberto Minerva; Faraz Malik Awan; Noel Crespi;

    International audience; The Digital Twin has the ability to store historical and current data about the physical object. In IoT, the concept of general-purpose sensing is aiming at determining a set of basic sensing capabilities from which deriving, by means of Artificial Intelligence algorithms and techniques (termed Synthetic Sensing), relevant information for describing an environment. This paper explores the possible relationships and the feasibility of integration of Synthetic Sensing within a Digital Twin framework. The relevant concepts and associated technologies, the challenges, and some of the enabled scenarios that this integration can bring are presented. This approach is in its infancy and there is a strong need to validate and assess its viability, feasibility, and benefits. The paper identifies some challenges and validation steps that can lead to consolidation and broad adoption of this approach. Finally, the paper presents some future work that aiming at proving the approach.

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    IEEE Internet Computing
    Article . 2022 . Peer-reviewed
    License: IEEE Copyright
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      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
      image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao
      IEEE Internet Computing
      Article . 2022 . Peer-reviewed
      License: IEEE Copyright
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    Authors: Florent Lamiraux; Joseph Mirabel;

    This paper presents a software platform tailored for prehensile manipulation planning named Humanoid Path Planner. The platform implements an original way of modeling manipulation planning through a constraint graph that represents the numerical constraints that define the manipulation problem. We propose an extension of the RRT algorithm to manipulation planning that is able to solve a large variety of problems. We provide replicable experimental results via a docker image that readers may download to run the experimental results by themselves. International audience

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    IEEE Transactions on Robotics
    Article . 2022 . Peer-reviewed
    License: IEEE Copyright
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