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Simon Rohou

Simon Rohou

29 y.o., Brest, France

Passionate about underwater robotics, 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 performed a postdoctoral research on this topic at IMT Atlantique/LS2N (Nantes, France).

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

GdR Robotique Since 2020, I am in charge of the Marine working group of the French national Research Group in Robotics (GdR) established by the CNRS.

CV: download (french version, September 2019)
Links: GoogleScholar, ResearchGate, HAL, arXiv, GitHub, YouTube

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 (November 2019): the thesis has been published as a book at ISTE Group

Download the manuscript of the thesis (Bibtex)
Download the table of contents of the book
Download the thesis reports
Download the slides
Download the acknowledgements

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

  1. An ellipsoidal predictor-corrector state estimation scheme for linear continuous-time systems with bounded parameters and bounded measurement errors Andreas Rauh, Simon Rohou, Luc Jaulin
    To be submitted to Frontiers In Control Engineering, 2021.
  2. Brunovsky decomposition for dynamic interval localization Simon Rohou, Luc Jaulin
    Submitted to IEEE Transactions on Automatic Control, 2021.
  3. A minimal contractor for time-delayed signals with application to multipath localization Raphael Voges, Simon Rohou, Steffen Schön, Luc Jaulin, Bernardo Wagner
    Submitted to IEEE Transactions on Signal Processing, 2021.
  4. Lie symmetries applied to interval integration Julien Damers, Luc Jaulin, Simon Rohou
    Submitted to Automatica, 2020.
  5. Exact bounded-error continuous-time linear state estimator Simon Rohou, Luc Jaulin
    Published in Systems & Control Letters, 2021. ■ Download preprint. Bibtex. . More.
  6. Towards a generic interval solver for differential-algebraic CSP Simon Rohou, Abderahmane Bedouhene, Gilles Chabert, Alexandre Goldsztejn, Luc Jaulin, Bertrand Neveu, Victor Reyes, Gilles Trombettoni
    Published in CP (International Conference on Principles and Practice of Constraint Programming), 2020. ■ Download preprint. Bibtex. . More. Video.
  7. Set-membership state estimation by solving data association Simon Rohou, Benoît Desrochers, Luc Jaulin
    Published in IEEE International Conference on Robotics and Automation (ICRA), 2020. ■ Download preprint. Bibtex. . More. Video.
  8. Reliable robot localization: a constraint-programming approach over dynamical systems Simon Rohou, Luc Jaulin, Lyudmila Mihaylova, Fabrice Le Bars, Sandor M. Veres
    Book published at ISTE Group, 2019. ■ Download table of contents. Bibtex. .
  9. 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.
  10. 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.
  11. 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.

Tutorial: constraint programming for mobile robotics

Online tutorial during the IROS 2020 Conference
Date: 26th October - 22nd November 2020

IROS conference There are several ways to deal with state estimation in mobile robotics. The constraint programming approach consists of defining a problem as a set of rules and letting a solver perform the estimation. For mobile robotics, rules are constraints coming from state equations or uncertainties from the measurements.

Efforts have been done to propose operators and solvers to apply these constraints. The goal of this tutorial is to learn how to use them and understand the efficiency of the approach on realistic robotic applications. We will see that some problems that are difficult to solve with conventional methods (Kalman filters, particle approaches) can be easily dealt with by constraint programming. This is for instance the case of poor observation measurements, time uncertainties, delays, or when the initial conditions of the system are not known.

The tutorial will stand on the Codac library, that provides tools for computations over sets of trajectories. It has been designed to deal with dynamical systems defined by non-linear differential equations and involving constraints such as trajectory evaluations, time uncertainties or delays. These computations stand on interval analysis, a well suited tool that reliably propagates uncertainties.

Organizers: Simon Rohou, Raphael Voges, Luc Jaulin, Benoît Desrochers
See the tutorial website

PhD students

Popular science

Underwater exploration techniques : history and innovations.
October 2019: A flip-flops conference given during the Festival Baie des Sciences at Saint-Brieuc (France).

Talks

Guerlédan project

Guerlédan project I am 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 Codac 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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