Researches as Associate Professor


In 2008, I was recruited as Associate Professor at the Graduate Engineering School (ENSI) of Bourges, which is now the INSA Centre Val de Loire1. Since my tenure, I have been regularly involved in the life of the Institute.


I perform my research activities with the PRISME2 Laboratory in the Robotics team of the Images, Robotics, Automatic control and Signal (IRAuS) unit. Since I am an Associate Professor, my research interests mainly deal with the modeling and control for nano and micro-robotics in a biomedical context. It can be noticed that, since my PhD degree, I had to apply a slight change on my research topics to address the specificities of the microworld. Actually, in a first time, my research activities have been mainly related with the European project NANOMA3. This project consisted to design microrobotic system for targeted drug delivery through the cardiovascular system. In parallel, I have also contributed to the development of micromanipulation activities of the laboratory. Firstly, the micromanipulation tasks have been devoted for intra@­cytoplasmic applications. Next, this research activities have evolved to object micromanipulation to be placed in the focus of a light beam within the ANR project PIANHO4. The different projects in which I have been involved are reported in Research Projects. In addition, I have directly co-supervised the works of 4 PhD students (with one still ongoing). I also had the opportunity to follow the research works of 5 external PhD students.

Prior research activities: doctorate degree and post-doctorate

I have defended my PhD in Robotics in 2007 within the Robotics, Action, and Perception (RAP) group of the Laboratory for Analysis and Architecture of Systems5 (LAAS), CNRS6, under the supervision of Viviane Cadenat, Associate Professor at Paul Sabatier University of Toulouse, France. My PhD thesis dealt with the design of multi-sensor based control strategies allowing a mobile robot to perform vision-based tasks amidst possibly occluding obstacles.

Between 2007 and 2008, I joined the Lagadic team at Inria7 Rennes-Bretagne Atlantique as a post-doctoral fellow on sensory control for unmanned aerial vehicles. My postdoctoral fellow has been supported by Sensory Control for Unmanned Aerial Vehicles (SCUAV) ANR8 project. The main objective was to improve multi-sensor-based servoing tasks for unmanned aerial vehicles. The idea was to design robust control law that combine different sensory data directly at the control level. Especially, I have contributed to the design of a new on-line sensor self-calibration based on the sensor/robot interaction links.

  1. INSA Centre Val de Loire (INSA CVL) was created in 2014 by the merge of École Nationale d’Ingénieurs du Val de Loire (ENIVL) of Blois and École Nationale Supérieur d’Ingénieurs (ENSI) of Bourges. In 2015, the École Nationale Supérieure de la Nature et du Paysage (ENSNP) of Blois is integrated to INSA Centre Val de Loire. 

  2. PRISME is from University of Orléans and from INSA Centre Val de Loire (EA 4229). 

  3. The NANOMA project is an European project funded under {FP7 ICT 2007.3.6}, Micro/nanosystems, coordinated by Professor Antoine Ferreira, University of Orléans , PRISMEshort Laboratory. The NANOMA project aims at proposing novel controlled nanorobotic delivery systems which will be designed to improve the administration of drugs in the treatment and diagnosis of breast cancer. 

  4. The PIANHO project is an ANR P3N (2009) project. The motivation of this project is to create a nanomanipulation platform capable of pick, hold and place nano-objects in the synchrotron radiation beam of the ESRF (Grenoble, France) via tuneable tool-object interaction. 

  5. LAAS is a laboratory depending from the CNRS. 

  6. Form French National Center for Scientific Research, from French Centre National de la Recherche Scientifique (CNRS), is the largest governmental research organization in France. 

  7. French Institute for Research in Computer Science and Automation, from French: Institut national de recherche en informatique et en automatique (Inria). 

  8. From French Agence Nationale de la Recherche (ANR), which is the French National Agency for Research.