Curriculum Vitæ

Julien R. SerresLecturer

October 23, 2019

Personal information

Research InstituteInstitut des Sciences du MouvementEtienne-Jules Marey, UMR7287Aix Marseille Université / CNRSCP910163, Avenue de LuminyF-13009 MARSEILLEFRANCE

Family name: SerresFirst name: JulienMiddle name: RenéAge: 41Nationality: FrenchPosition: LecturerResearch field:Bio-inspired robotics and sensory-motor controlEmail: julien.serres@univ-amu.fr

Work phone number: +33 (0) 4 91 26 62 38

CNRS stands for National Center for Scientific Research in English

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Contents1 Curriculum Vitæ 3

1.1 Education . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31.2 Honors and Awards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31.3 Professional Appointments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31.4 Bibliometry of my research . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41.5 Internet referencing of my research . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41.6 Affiliations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41.7 Research focus: Bio-inspired Robotics and Sensory-Motor Control . . . . . . . . . . . . 4

2 Main research axes and contributions in the fields concerned 5

3 Robotics innovation of the year 2019: AntBotnavigate with a centimetric accuracy as desert ants do 6

4 Exhaustive list of my publications 84.1 International journals indexed Journal Citation Reports (18) . . . . . . . . . . . . . . . 84.2 International journals (4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94.3 IEEE International conferences (12) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104.4 International conferences (17) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114.5 Workshops (5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124.6 Books and chapters (10) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134.7 Scientific and popular works (2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144.8 National journals (5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144.9 National conferences (12) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144.10 Patents (1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

5 Invited conferences 16

6 Press releases 17

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1 Curriculum Vitæ

1.1 Education• 2008 Ph.D. in Automatic Systems and Microelectronics, University of Montpellier 2, France.

PhD supervisor: DR Nicolas Franceschini (CNRS).

• 2003 Master “Medical imaging”, specialization in functional magnetic resonance imaging (fMRI),University of Paris Sud (Paris 11), France

• 2003 Master “Electronics, Electrotechnics, and Automatic Control Engineering”, University ofParis Sud and the École Normale Supérieure (ENS Cachan), Cachan, France.

• 2002 Agrégation in Applied Physics. The agrégation is the highest national competitive ex-amination department for recruiting teachers for certain appointment in the French educationsystem.

• 1999 – 2003 ENS pupils at the École Normale Supérieure (ENS) at Cachan, France.

1.2 Honors and Awards• 2018 1st best paper award at the international conference Living Machines, Paris, France. Title:

“AntBot, a hexapod walking robot mimicking navigation strategies of desert ants Cataglyphis”.Authors: Julien Dupeyroux, Julien Serres, & Stéphane Viollet.

• 2017 1st best paper award at the IEEE European Conference on Mobile Robotics (ECMR), Paris,France. Title: “A bio-inspired celestial compass applied to an ant-inspired robot for autonomousnavigation”. Authors: Julien Dupeyroux, Julien Diperi, Marc Boyron, Stéphane Viollet, & JulienSerres.

• 2009 2nd prize awarded by the French research community in Robotics organized by the CNRS,JNNR’09 National Conference, Neuvy-sur-Barangeon, France.

1.3 Professional Appointments• From 2014 Assistant professor in bio-inspired robotics at the Aix-Marseille University (AMU),

Institute of Movement Sciences (ISM), UMR7287, Marseille, France

• 2008 – 2014 Associate researcher in bio-inspired robotics at the Aix-Marseille University, Instituteof Movement Sciences(ISM), UMR7287, Marseille, France.

• 2006 – 2014 High school teacher at university level in physical science (2 years technologicaldegree in Electrotechnics). Civil servant as professeur agrégé (in French), Lyon Academy (2006)and Aix-Marseille Academy (2007-2014), France.

• 2003 – 2006 PhD Student, CNRS tempory contract, Marseille, France.

• 1999 – 2003 Admitted at the competitive entrance of the École Normale Supérieure at Cachan,France. ENS pupils at the École Normale Supérieure as trainee state official.

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1.4 Bibliometry of my research

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Google Scholar (830 quotations ; h-index = 13) Web of Science (343 quotations ; h-index = 8)

1.5 Internet referencing of my research• My professional website• Web of Science ResearcherID: Q-5713-2016• ORCID• Google Scholar• Archive ouverte HAL AMU• ResearchGate• Frontiers In• dblp computeur science bibliography• publons

1.6 Affiliations• French Society for the Study of Animal Behaviour (SFECA)• Ad Hoc Reviewer in 3 fields: Robotics (e.g., IEEE Transactions on Robotics, Autonomous

Robots, IEEE Transactions on Cybernetics, Rob. and Autom. Syst., MDPI Sensors, Robot-ica,…), Biology (PNAS, Scientific Reports, J. of Exp. Biol., Biol. Letters,…), & ComputationalModelling (e.g., PLOS Computationnel Biology, Journal of Neural Engineering,…)

1.7 Research focus: Bio-inspired Robotics and Sensory-Motor Control• Biorobotics and bio-inspired visual sensors

• Insect’s flight control system and insect’s navigational system

• Celestial navigation

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2 Main research axes and contributions in the fields concerned

My research work is in biorobotics, a discipline at the interface between life sciences and robotics.My research themes also cover bioinspiration, biomimicry, and bio-inspired robotics. Bioroboticsaims at explaining the workings of life, particularly the coupling between perception and action, tounderstand the spatial orientation mechanisms in animals. My work focuses mainly on invertebrates(honeybee, ant, & bumblebee), but recently I have also become interested in altitude control in birdsin the framework of a European consortium [Serres et al., J. Royal Soc. Interface, 2019], but also inhelicopter landing manoeuvres in humans (collaboration with ONERA - The French Aerospace Lab)[Morice et al., J. Exp. Psychol. Appl., 2019 submitted]. Humans and animals perform complex spacenavigation tasks to navigate through space, cross urban corridors or canyons, or land on a runway oron a ship (Fig. 1). Current robots are unable to match the performance of biological systems in realenvironments, so the question arises as to the relevance of the conventional approach of robotics, whichrelies on computational power and fine environmental modelling to couple perception and action inautonomous robotics. My modus operandi is therefore both biomimetism and parsimony. Why arethere animals in Nature with such a coarse visual system in terms of pixel count and resolution? Onlyhumans have invented the pair of glasses to correct their vision or binoculars to see further.

Figure 1: (a) Optic flow and visual scene perceived by a pilot (Gibson, 1950). (b) Honeybee passingthrough a tapered tunnel (Serres & Ruffier, Arthropod. Struct. Dev., 2017). (c) Simulation andembodiment of the principles of visual-motor guidance on board robots fitted with bio-inspired sensors.

To answer this question, my research areas are the construction of bio-inspired visual sensors withthe optical properties of invertebrates, the study of the visual guidance mechanisms of honeybeesin free flight and humans performing a helicopter landing task in enhanced virtuality, and finallythe realization of physical demonstrators (Fig. 2). My research profile today is transdisciplinary inperceptual-motor sciences (animals, humans, & robots), an interface between life sciences and robotics,which contributes to producing results in bio-inspired robotics as a vector of innovation. Below, youwill find a detailed summary of my exhaustive list of publications, most of them with a significantimpact factor.

Figure 2: (a) LORA hovercraft robot (878g) mimicking the guidance of the bee in the horizontal plane.From Roubieu et al. Bioinsp. Biomim. (2014). (b) Quadrirotor X4-MaG (395g; 30 cm) fitted with itsbio-inspired bee’s eye. From Vanhoutte et al. Proc. IMAV (2017). (c) Hexapod Robot AntBot (2.3kg) fitted with a celestial compass and a small ventral eye. From Dupeyroux et al. Sci. Rob. (2019).

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3 Robotics innovation of the year 2019: AntBotnavigate with a centimetric accuracy as desert ants do

Autonomous navigation is one of the leading technological challenges of the 21st century in the fieldsof the automotive industry, air and maritime transport, and mobile robotics. To be functional, suchsystems must perform multi-sensor data fusion provided by the GPS and other devices like radarsand embedded cameras. Although well-performing, the accuracy of the civilian GPS is hampered byboth the urban infrastructures surrounding the vehicle and the meteorological conditions. Camera-based strategies are also able to precisely estimate the vehicle’s position in its environment, but thedata processing requires important computational resources, and the performances depend on thestability of the lightening conditions. However, when put together, all these techniques are capable ofcompensating for their disadvantages with interesting results.

The challenge is to develop brand new navigation systems reliable enough to increase the robustnessand the accuracy of the localization of vehicles, aircraft, ships and robots in a wide range of environ-mental and meteorological conditions. We have developed a hexapod walking robot, called AntBot(Fig. 3), inspired by desert ants Cataglyphis fortis, which are insects with impressive navigationalskills living mainly in the Arab world.

Figure 3: Hexapod robot AntBot mimicking desert ants’ navigation and developed at the Instituteof Movement Sciences - E.J. Marey (CNRS/Aix Marseille University, UMR7287), Marseille, France.Credits: Julien Dupeyroux ©.

Unlike their European cousins, desert ants cannot refer to pheromone trails to home after roamingin the desert. In the scorching desert’s conditions, the extreme heat would instantly destroy thepheromones dropped on the ground. Instead, they use their vision and they count their strides to findtheir way back to the nest entrance. This is a famous strategy that biologists call path integrationand explain how such small insects can successfully go back to the nest after a 1km-long trajectoryin the desert1! To achieve this outstanding behavior, desert ants determine their heading based ona sophisticate biological approach. Firstly, they analyze the light coming from the atmosphere to

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estimate its heading. Secondly, they estimate the distance traveled by counting their strides andintegrating the scrolling speed of the ground: this is referred to as optic flow.

To mimic this outstanding behavior, the AntBot robot is fitted with two tiny, unconventional visualsensors. The first one is a sky compass: it is composed of two pixels topped with filters that measureand analyze the skylight. This compass works in the same way as the traditional magnetic compass -the difference is that the reference is no longer the magnetic North but the skylight. This sky compasswas inspired by ants’ eyes which are sensitive to some specific properties of the skylight - propertiesthat we, humans, are unable to see. It provided strong results in a wide range of meteorologicalconditions, thus suggesting it would fit for outdoor autonomous navigation applications2. The purposeof the sky compass is to make the robot able to determine its heading while simply referring to theskydome.

The second visual sensor reproduces the ant’s ability to track the optic flow (strides and speed ofthe covered track). This scrolling speed sensor is made of only 12 pixels! In addition, those pixels aresimilar to biological eyes and can, therefore, adapt to the changing of ambient light. This is a keyparameter to make a visual-based navigation system functional in real-world where ambient light canchange randomly. The AntBot robot uses this 12-pixel sensor combined with the stride counter toestimate the distance traveled.

AntBot3 took its first steps in the heart of the French Calanques National Park (Fig. 3). Therobot, endowed with the desert ant-inspired navigation system, was able to precisely locate withoutGPS nor map, and find its way back home with accuracy 100 times better than the GPS3 (Fig. 4).It also showed that such bio-inspired navigation approach can help to improve our traditional toolswithout increasing the development cost or the computational needs3. Future autonomous cars couldbenefit this ant-based navigation system as a spare in case of GPS failure.

Figure 4: (A) The homing behavior observed in desert ants Cataglyphis fortis1. (B) Correspondingexperiments performed with the AntBot robot fitted with a pair of ant-like visual sensors3. Gray linesshow the outbound trajectories, and black lines depict the inbound trajectories.

1 Wehner, R., & Wehner, S. (1990). Insect navigation: use of maps or Ariadne’s thread? EthologyEcology & Evolution, 2(1), 27-48.2 Dupeyroux, J., Viollet, S., & Serres, J. R. (2019). Polarized skylight-based heading measurements:a bio-inspired approach. Journal of the Royal Society Interface, 16(150), 20180878.3 Dupeyroux, J., Serres, J. R., & Viollet, S. (2019). AntBot: A six-legged walking robot able to homelike desert ants in outdoor environments. Science Robotics, 4(27), eaau0307.

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4 Exhaustive list of my publications

4.1 International journals indexed Journal Citation Reports (18)

©Thomson Reuters Journal Citation Reports 2018Journal 1st Edition Publisher Impact F. Year authorsExperimental Psychology-Applied 1997 APA 1.972 submitted 3rdNano Energy 2012 Elsevier 15.548 2019 3rdJ. of The Royal Society Interface 2004 Roy. Soc. 3.224 2019 1stRobotics and Autonomous Systems 1988 Elsevier 2.928 2019 LastJ. of The Royal Society Interface 2004 Roy. Soc. 3.224 2019 LastScience Robotics 2016 AAAS 19.400 2019 2ndCurrent Opinion in Insect Science 2014 Elsevier 3.784 2018 1stScientific Reports 2011 NPG 4.011 2017 2ndArthropod Structure & Development 2000 Elsevier 1.843 2017 1stSensors 2001 MDPI 3.031 2017 LastJ. of Bionic Engineering 2004 Springer 2.463 2015 1stBioinspiration & biomimetics 2006 IOPscience 3.130 2014 2ndPhysiology - Paris (arrêté en 2017) 1906 Elsevier 0.815 2010 2ndAutonomous Robots 1994 Springer 3.634 2008 1stScience of Nature (Naturwissenschaften) 1913 Springer 1.839 2008 1stCurrent Biology 1991 Elsevier 9.193 2007 2ndBMC Neuroscience 2000 Springer 2.620 2007 5thInt. J. of Advanced Robotic Systems 2004 SAGE 1.223 2006 1st

1. Antoine H P Morice, Thomas Rakotomamonjy, Julien R Serres, and Franck Ruffier. Ecologicalinformation during helicopter ship landing: an approach in augmented virtuality. Journal ofExperimental Psychology-Applied, 2019 submitted

2. Aravind Narain Ravichandran, Cyril Calmes, Julien R Serres, Marc Ramuz, and Sylvain Blayac.Compact and high performance wind actuated venturi triboelectric energy harvester. NanoEnergy, 62:449–457, 2019. https://hal-amu.archives-ouvertes.fr/hal-02157346

3. Julien R Serres, Thomas J Evans, Susanne Åkesson, Olivier Duriez, Judy Shamoun-Baranes,Franck Ruffier, and Anders Hedenström. Optic flow cues help explain altitude control over seain freely flying gulls. Journal of The Royal Society Interface, 16(159):20190486, 2019. https://hal-amu.archives-ouvertes.fr/hal-02309725

4. Julien Dupeyroux, Stéphane Viollet, and Julien R Serres. An ant-inspired celestial compassapplied to autonomous outdoor robot navigation. Robotics and Autonomous Systems, 117:40–56,2019. https://hal.archives-ouvertes.fr/hal-02105997

5. Julien Dupeyroux, Stéphane Viollet, and Julien R Serres. Polarized skylight-based headingmeasurements: a bio-inspired approach. Journal of the Royal Society Interface, 16(150):20180878,2019. https://hal-amu.archives-ouvertes.fr/hal-01990800

6. Julien Dupeyroux, Julien R Serres, and Stéphane Viollet. Antbot: A six-legged walking robotable to home like desert ants in outdoor environments. Science Robotics, 4(27):eaau0307, 2019.https://hal-amu.archives-ouvertes.fr/hal-02075700/

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7. Julien R Serres and Stéphane Viollet. Insect-inspired vision for autonomous vehicles. Cur-rent Opinion in Insect Science, 30:46–51, 2018. https://hal-amu.archives-ouvertes.fr/hal-01882712

8. Geoffrey Portelli, Julien R Serres, and Franck Ruffier. Altitude control in honeybees: jointvision-based learning and guidance. Scientific reports, 7(1):9231, 2017. https://hal-amu.archives-ouvertes.fr/hal-01644531

9. Julien R Serres and Franck Ruffier. Optic flow-based collision-free strategies: From insects torobots. Arthropod structure & development, 46(5):703–717, 2017. https://hal-amu.archives-ouvertes.fr/hal-01644523/

10. Erik Vanhoutte, Stefano Mafrica, Franck Ruffier, Reinoud J Bootsma, and Julien Serres. Time-of-travel methods for measuring optical flow on board a micro flying robot. Sensors, 17(3):571,2017. https://hal.archives-ouvertes.fr/hal-01551122

11. Julien R Serres and Franck Ruffier. Biomimetic autopilot based on minimalistic motion visionfor navigating along corridors comprising u-shaped and s-shaped turns. Journal of Bionic Engi-neering, 12(1):47–60, 2015. https://hal.archives-ouvertes.fr/hal-01108274/

12. Frédéric L Roubieu, Julien R Serres, Fabien Colonnier, Nicolas Franceschini, Stéphane Viol-let, and Franck Ruffier. A biomimetic vision-based hovercraft accounts for bees’ complex be-haviour in various corridors. Bioinspiration & biomimetics, 9(3):036003, 2014. https://hal.archives-ouvertes.fr/hal-01446797/

13. Goeffrey Portelli, Julien Serres, Franck Ruffier, and Nicolas Franceschini. Modelling honeybeevisual guidance in a 3-d environment. Journal of Physiology-Paris, 104(1-2):27–39, 2010. https://hal-amu.archives-ouvertes.fr/hal-02010550/

14. Julien Serres, D Dray, Franck Ruffier, and N Franceschini. A vision-based autopilot for a minia-ture air vehicle: joint speed control and lateral obstacle avoidance. Autonomous robots, 25(1-2):103–122, 2008. https://hal-amu.archives-ouvertes.fr/hal-01758721/

15. Julien R Serres, Guillaume P Masson, Franck Ruffier, and Nicolas Franceschini. A bee inthe corridor: centering and wall-following. Naturwissenschaften, 95(12):1181, 2008. https://hal-amu.archives-ouvertes.fr//hal-02294572/

16. Nicolas Franceschini, Franck Ruffier, and Julien Serres. A bio-inspired flying robot sheds light oninsect piloting abilities. Current Biology, 17(4):329–335, 2007. https://hal.archives-ouvertes.fr/hal-02295687/

17. Philippe Pinel, Bertrand Thirion, Sébastien Meriaux, Antoinette Jobert, Julien Serres, DenisLe Bihan, Jean-Baptiste Poline, and Stanislas Dehaene. Fast reproducible identification andlarge-scale databasing of individual functional cognitive networks. BMC neuroscience, 8(1):91,2007. https://hal.inria.fr/hal-00784462/

18. Julien Serres, Franck Ruffier, Stephane Viollet, and Nicolas Franceschini. Toward optic flowregulation for wall-following and centring behaviours. International Journal of Advanced RoboticSystems, 3(2):23, 2006. https://hal-amu.archives-ouvertes.fr/hal-02295717/

4.2 International journals (4)1. Julien Serres and Franck Ruffier. Optic flow-based robotics. Wiley Encyclopedia of Electri-

cal and Electronics Engineering, pages 1–14, 2016. https://hal-amu.archives-ouvertes.fr/hal-02294347

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2. Nicolas Franceschini, Franck Ruffier, and Julien Serres. Insect inspired autopilots. Journal of AeroAqua Bio-mechanisms, 1(1):2–10, 2010. https://www.jstage.jst.go.jp/article/jabmech/1/1/1_1_2/_pdf/-char/en

3. Nicolas Franceschini, Franck Ruffier, and Julien Serres. Biomimetic optic flow sensors and au-topilots for MAV guidance. In Encyclopedia of Aerospace Engineering. Wiley Online Library,2010. https://onlinelibrary.wiley.com/doi/abs/10.1002/9780470686652.eae409

4. Nicolas Franceschini, Stéphane Viollet, Franck Ruffier, and Julien Serres. Neuromimetic robotsinspired by insect vision. In Mining Smartness from Nature, volume 58 of Advances in Scienceand Technology, pages 127–136. P. Vincenzini & S. Graziani (Eds.),Trans Tech Publications Ltd,Switzerland, 2 2009. https://hal.archives-ouvertes.fr/hal-01446805

4.3 IEEE International conferences (12)1. Julien Dupeyroux, Stephane Viollet, and Julien R Serres. Sensing the celestial pattern of po-

larization yields new opportunities for autonomous urban ground navigation. In InternationalConference on Robotics and Automation (ICRA), 2020 IEEE/RSJ International Conference on.IEEE, Paris, France, 2020 (submitted)

2. Julien Dupeyroux, Victor Boutin, Julien R Serres, Laurent U Perrinet, and Stephane Viollet.M2apix: A bio-inspired auto-adaptive visual sensor for robust ground height estimation. In Cir-cuits and Systems (ISCAS), 2018 IEEE International Symposium on, pages 1–4, 2018. https://hal-amu.archives-ouvertes.fr/hal-01915657, doi = 10.1109/ISCAS.2018.8351433, orga-nization=IEEE, Florence, Italy

3. Julien Dupeyroux, Julien Diperi, Marc Boyron, Stéphane Viollet, and Julien Serres. A bio-inspired celestial compass applied to an ant-inspired robot for autonomous navigation. In MobileRobots (ECMR), 2017 European Conference on, pages 1–6. IEEE, Paris, France, 2017. https://hal-amu.archives-ouvertes.fr/hal-01588859/

4. Erik Vanhoutte, Franck Ruffier, and Julien Serres. A quasi-panoramic bio-inspired eye forflying parallel to walls. In SENSORS, 2017 IEEE, pages 1–3. IEEE, Glasgow, UK, 2017.https://hal.archives-ouvertes.fr/hal-01630170

5. Julien Dupeyroux, Julien Diperi, Marc Boyron, Stéphane Viollet, and Julien Serres. A novelinsect-inspired optical compass sensor for a hexapod walking robot. In Intelligent Robots andSystems (IROS), 2017 IEEE/RSJ International Conference on, pages 3439–3445. IEEE, Van-couver, Canada, 2017. https://hal-amu.archives-ouvertes.fr/hal-01643172

6. Julien Dupeyroux, Julien Diperi, Marc Boyron, Stéphane Viollet, and Julien Serres. A bio-inspired celestial compass for a hexapod walking robot in outdoor environment. In IEEE/RSJInternational Conference on Intelligent Robots and Systems (IROS 2017). IEEE, Vancouver,Canada, 2017. https://hal.archives-ouvertes.fr/hal-01643182

7. Thibaut Raharijaona, Julien Serres, E Vanhoutte, and Franck Ruffier. Toward an insect-inspiredevent-based autopilot combining both visual and control events. In Event-based Control, Com-munication, and Signal Processing (EBCCSP), 2016 2nd International Conference on. IEEE,Funchal, Portugal, 2017. https://hal.archives-ouvertes.fr/hal-01528589

8. Julien Serres, T Raharijaona, E Vanhoutte, and F Ruffier. Event-based visual guidance inspiredby honeybees in a 3d tapered tunnel. In Event-based Control, Communication, and SignalProcessing (EBCCSP), 2016 1st International Conference on, pages 1–4. IEEE, Krakow, Poland,2016. https://hal.archives-ouvertes.fr/hal-01332819

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9. Frédéric L Roubieu, Julien Serres, Nicolas Franceschini, Franck Ruffier, and Stéphane Viollet. Afully-autonomous hovercraft inspired by bees: Wall following and speed control in straight andtapered corridors. In Robotics and Biomimetics (ROBIO), 2012 IEEE International Conferenceon, pages 1311–1318. IEEE, Guangzhou, China, 2012. https://hal.archives-ouvertes.fr/hal-00743129v2/

10. Franck Ruffier, Toshiharu Mukai, Hiromichi Nakashima, Julien Serres, and Nicolas Franceschini.Combining sound and optic fow cues to reach a sound source despite lateral obstacles. In SystemIntegration, 2008 IEEE/SICE International Symposium on, pages 89–94. IEEE, Nagoya, Japan,2008. https://hal-amu.archives-ouvertes.fr/hal-02294544/

11. Geoffrey Portelli, Julien Serres, Franck Ruffier, and Nicolas Franceschini. A 3d insect-inspiredvisual autopilot for corridor-following. In Biomedical Robotics and Biomechatronics, 2008. BioRob2008. 2nd IEEE RAS & EMBS International Conference on, pages 19–26. IEEE, Scottsdale, AZ,USA, 2008. https://hal-amu.archives-ouvertes.fr/hal-02294590/

12. Julien Serres, Franck Ruffier, and Nicolas Franceschini. Two optic flow regulators for speedcontrol and obstacle avoidance. In Biomedical Robotics and Biomechatronics, 2006. BioRob2006. The First IEEE/RAS-EMBS International Conference on, number paper n°284, pages750–757. IEEE, Pisa, Italy, 2006. https://hal-amu.archives-ouvertes.fr/hal-02295748/

4.4 International conferences (17)1. Julien R Serres, Antoine HP Morice, Constance Blary, Gilles Montagne, and Franck Ruffier. Hon-

eybees flying over a mirror crash irremediably. In 4th International Conference on InvertebrateVision (ICIV), Bäckaskog, Sweden, 2019. https://www.youtube.com/watch?v=KH9z8eqOBbU

2. Julien Dupeyroux, Julien Serres, and Stéphane Viollet. Antbot: a fully insect-inspired hexa-pod homing like desert ants. In 4th International Conference on Invertebrate Vision (ICIV),Bäckaskog, Sweden, 2019

3. Julien Dupeyroux, Julien Serres, and Stéphane Viollet. A hexapod walking robot mimickingnavigation strategies of desert ants cataglyphis. In Conference on Biomimetic and BiohybridSystems, Paris, France, pages 145–156. Springer, 2018. https://hal-amu.archives-ouvertes.fr/hal-02075674/

4. Julien Dupeyroux, Grégoire Passault, Franck Ruffier, Stéphane Viollet, and Julien Serres. Hex-abot: a small 3d-printed six-legged walking robot designed for desert ant-like navigation tasks.In IFAC Word Congress 2017, Toulouse, France, 2017. https://hal-amu.archives-ouvertes.fr/hal-01643176

5. Julien Serres, Thomas J Evans, Susanne Åkesson, Olivier Duriez, Judy Shamoun-Baranes, FranckRuffier, and Anders Hedenström. Optic flow and energy invariants combined explain gulls’altitude profiles during offshore takeoff. In The 6th International Bio-logging Science Symposium(BLS6), Lake Constance, Germany, Sept. 2017. https://hal-amu.archives-ouvertes.fr/hal-02078084

6. Erik Vanhoutte, Franck Ruffier, and Julien Serres. A honeybee’s navigational toolkit on boarda bio-inspired micro flying robot. In The 9th International Micro Air Vehicle Conferenceand Competition (IMAV), pages 136–142, 2017. https://hal-amu.archives-ouvertes.fr/hal-01593819

7. Julien Serres, Franck Ruffier, and Nicolas Franceschini. A bio-inspired robot accounts for insectbehavior. In 16th European Conference en Eye Movement (ECEM), Marseille, France, 2011.https://hal.archives-ouvertes.fr/hal-02194432/

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8. Nicolas Franceschini, Stéphane Viollet, Franck Ruffier, and Julien Serres. Neuromimetic robotsinspired by insect vision. In Proceedings of the 3rd International Conference “Smart, Materials,Structures and Systems” (CIMTEC), Acireale, Sicily, Italy, number E-4.2: IL03, June 2008.https://hal-amu.archives-ouvertes.fr/hal-02296278/

9. Nicolas Franceschini, Franck Ruffier, and Julien Serres. From insects to robots and back. In Pro-ceedings of the 2nd International Conference on Invertebrate Vision (ICIV), Bäckaskog, Sweden,2008. https://hal-amu.archives-ouvertes.fr/hal-02195476v1/

10. Julien Serres, Franck Ruffier, Guillaume P Masson, and Nicolas Franceschini. A bee in thecorridor: centering and wall-following. In Proceedings of the 2nd International Conference onInvertebrate Vision (ICIV), Bäckaskog, Sweden, 2008. https://hal-amu.archives-ouvertes.fr/hal-02195483/

11. Nicolas Franceschini, Franck Ruffier, and Julien Serres. Optic flow based autopilot: From insectsto rotorcraft and back. In Comparative Biochemistry and Physiology, Part A. Abstracts of theAnnual Main Meetings of the Society for Experimental Biology, Glasgow, Scotland, volume 146,page S133, 2007. https://hal.archives-ouvertes.fr/hal-02295426/

12. Franck Ruffier, Julien Serres, Guillaume P Masson, and Nicolas Franceschini. A bee in thecorridor: regulating the optic flow on one side. In Proceedings of the 7th meeting of the Germanneuroscience society—31st Göttingen neurobiology conference, number T14-7B, 2007. https://hal.archives-ouvertes.fr/hal-02295700/

13. Julien Serres, Franck Ruffier, Guillaume P Masson, and Nicolas Franceschini. A bee in the cor-ridor: centring or wall-following? In Proceedings of the 7th meeting of the German neurosciencesociety—31st Göttingen neurobiology conference, number T14-8B, 2007. https://hal-amu.archives-ouvertes.fr/hal-01445551/

14. Geoffrey Portelli, Maëlle Ogier, Julien Serres, Franck Ruffier, and Nicolas Franceschini. A beein the corridor: side-slip control autopilot. In Proceedings of the International Symposium onFlying Insects and Robots (FIR), Ascona, Switzerland, pages 91–92, 2007. https://hal-amu.archives-ouvertes.fr/hal-02195537/

15. Nicolas Franceschini, Franck Ruffier, and Julien Serres. Insects as pilots: optic flow regula-tion for vertical and horizontal guidance. In Proceedings of the International Symposium onFlying Insects and Robots (FIR), Ascona, Switzerland, pages 37–38, 2007. https://hal-amu.archives-ouvertes.fr/hal-02195516/

16. Franck Ruffier, Julien Serres, and Nicolas Franceschini. Automatic landing and take-off at con-stant slope without terrestrial aids. In Proceedings of 31st European Rotorcraft Forum (ERF2005), Florence, Italy, volume 71, pages 92.1–92.8, 2005. https://hal-amu.archives-ouvertes.fr/hal-02295758/

17. Julien Serres, Franck Ruffier, and Nicolas Franceschini. Biomimetic visual navigation in acorridor: to centre or not to centre? In Proceedings of International Mediterranean Model-ing Multiconference (I3M 2005), Marseille, France, pages 91–97, 2005. https://hal-amu.archives-ouvertes.fr/hal-02295829/

4.5 Workshops (5)1. Frédéric L Roubieu, Julien Serres, Stéphane Viollet, Franck Ruffier, and Nicolas Franceschini.

Toward a fully autonomous hovercraft visually guided thanks to its own bio-inspired motionsensors. In International Workshop on Bio-Inspired Robots, Nantes, France, 2011. https://hal.archives-ouvertes.fr/hal-00743520/

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2. Franck Ruffier, Julien Serres, and Nicolas Franceschini. Pilotes automatiques biomimétiques :boucles de rétroaction directes sur le flux optique. In Workshop inter GdR MACS et Robotiquedu GT UAV, ENSAM, Paris, France, March 2009. https://gt-uav.hds.utc.fr/dokuwiki/lib/exe/fetch.php?media=fr:reunion26mars2009:gtuav_ruffier2.pdf

3. Franck Ruffier, Julien Serres, and Nicolas Franceschini. Pilotes automatiques biomimétiques:boucles de rétroaction directe sur le flux optique. In Journées ONERA/DGA MSI ”Matéri-aux et Structures Intelligents”,Châtillon, France, March 2009. https://gt-uav.hds.utc.fr/dokuwiki/lib/exe/fetch.php?media=fr:reunion26mars2009:gtuav_ruffier2.pdf

4. Franck Ruffier, Julien Serres, and Nicolas Franceschini. Pilotes automatiques biomimétiques: boucles de rétroaction directes sur le flux optique. In Workshop Drone LSIS/ISM, avec leconcours du Pôle de compétitivité PEGASE, de l’ONERA et de l’École des Officiers de l’Arméede l’Air, Salon-de-Provence, France, May 2009. https://gt-uav.hds.utc.fr/dokuwiki/lib/exe/fetch.php?media=fr:reunion26mars2009:gtuav_ruffier2.pdf

5. Julien Serres, David Dray, Franck Ruffier, and Nicolas Franceschini. A bio-inspired optic flowbased autopilot for guiding a miniature hovercraft in corridors. In IEEE-IROS Workshop onVisual Guidance Systems for Small Autonomous Aerial, Nice, France, Sept. 2008. https://hal.archives-ouvertes.fr/hal-02294457/

4.6 Books and chapters (10)1. Julien Dupeyroux, Stéphane Viollet, and Julien R Serres. AntBot : un robot qui s’oriente comme

une fourmi - Applications à la navigation à vue sans GPS ni magnétomètre. Editions TI |Techniques de l’Ingénieur, 2019 (in press)

2. Julien R Serres. Taking inspiration from flying insects to navigate inside buildings. In GuldenKokturk and Tutku Didem Akyol Altun, editors, Interdisciplinary Expansions in Engineering andDesign With the Power of Biomimicry, chapter 3, pages 31–55. InTech, Vienna, 2018. https://hal-amu.archives-ouvertes.fr/hal-01758731

3. Julien Serres, Stéphane Viollet, and Franck Ruffier. Microdrones bio-inspirés - Doter nos futursrobots aériens de l’agilité des insectes. Editions TI | Techniques de l’Ingénieur, 2017. https://hal-amu.archives-ouvertes.fr/hal-01574508

4. Thibaut Raharijaona, Lubin Kerhuel, Julien Serres, Frédéric Roubieu, Fabien Expert, StéphaneViollet, Franck Ruffier, and Nicolas Franceschini. Insect inspired visual motion sensing and flyingrobots. In Handbook of Biomimetics and Bioinspiration: 2 Electromechanical Systems, pages 565–611. World Scientific, 2014. https://hal-amu.archives-ouvertes.fr/hal-02294399

5. Nicolas Franceschini, Franck Ruffier, and Julien Serres. Aerial navigation and optic flow sensing.a biorobotic approach. In Motor Control, chapter 19, pages 451–447. F. Danion & M. L. Latash(Eds.). Oxford University Press, 2010

6. Julien Serres. De l’abeille au robot : la régulation du flux optique. Contrôle conjoint de vitesseet d’évitements d’obstacles latéraux pour véhicules totalement actionnés. Éditions UniversitairesEuropeennes EUE, 2010. https://tel.archives-ouvertes.fr/tel-00645272/

7. Nicolas Franceschini, Franck Ruffier, Julien Serres, and Stéphane Viollet. Optic flow based visualguidance: from flying insects to miniature aerial vehicles. In Aerial vehicles, chapter 35, pages 747–770. InTech, Vienna, 2009. https://www.intechopen.com/books/aerial_vehicles/optic_flow_based_visual_guidance__from_flying_insects_to_miniature_aerial_vehicles

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8. Fabrice Aubépart, Julien Serres, Antoine Dilly, Franck Ruffier, and Nicolas Franceschini. Fieldprogrammable gate array (FPGA) for bio-inspired visuo-motor control systems applied to micro-air vehicles. In Aerial Vehicles, chapter 3, pages 29–54. InTech, Vienna, 2009. https://www.intechopen.com/books/aerial_vehicles/field_programmable_gate_array__fpga__for_bio-inspired_visuo-motor_control_systems_applied_to_micro-a

9. Nicolas Franceschini, Viollet Stéphane, Franck Ruffier, and Julien Serres. The insect compoundeye : from micro-optics and neuronics to biorobotics. In Nanomaterials and Insect Biomimetics,pages 1–18. Masatsugu Shimomura, Tateo Shimozawa (Ed.). Tokyo: NTS, 2008

10. Julien Serres. De l’abeille au robot : la régulation du flux optique. Contrôle conjoint de vitesseet d’évitements d’obstacles latéraux pour véhicules totalement actionnés. PhD thesis, UniversitéMontpellier II-Sciences et Techniques du Languedoc, 2008. https://tel.archives-ouvertes.fr/tel-00645272/

4.7 Scientific and popular works (2)1. Catherine Jessus. Étonnant vivant. Découvertes et promesses du XXIe siècle. CNRS Éditions,

2017 (Contributor)

2. Nicolas Franceschini, Franck Ruffier, and Julien Serres. Y a-t-il un pilote dans l’insecte ? In Voirl’invisible, pages 216–217. Jean-Pierre Gex (Ed.), Omniscience, collection Ecrin, Paris, 2007

4.8 National journals (5)1. Julien Serres. Comment organiser une formation Matlab™/Simulink. In La Revue 3EI, num-

ber 94, pages 38–45. SEE, ISNN : 1252-770X, 2019

2. Patrick Dubois and Julien Serres. Décodage de télégrammes KNX. In La Revue 3EI, num-ber 78, pages 44–50. SEE, ISNN : 1252-770X, 2014. https://hal-amu.archives-ouvertes.fr/hal-01848912/

3. Julien Serres and Patrick Dubois. Installation solaire photovoltaïque autonome utilisant descellules en couches minces cis. In La Revue 3EI, number 72, pages 65–70. SEE, ISNN : 1252-770X, 2013. https://hal-amu.archives-ouvertes.fr/hal-01848791

4. Julien Serres, Patrick Dubois, Christophe Jaunay, and Sophie Escolano. Réseau électrique hautequalité. In La Revue 3EI, number 58, pages 20–26. SEE, ISNN : 1252-770X, 2009. https://hal-amu.archives-ouvertes.fr/hal-01848939/

5. Julien Serres, Stéphane Viollet, Lubin Kerhuel, and Nicolas Franceschini. Régulation de vitessed’un micromoteur à courant continu sans capteur au moyen d’un microcontrôleur dsPIC pro-grammé par une passerelle Matlab™/Simulink. In La Revue 3EI, number 56, pages 66–74. SEE,ISNN : 1252-770X, 2009. https://hal-amu.archives-ouvertes.fr/hal-01848804/

4.9 National conferences (12)1. Aimie Berger-Dauxère, Gilles Montagne, and Julien R Serres. A new experimental design to

uncorrelate visual cues in honeybees’altitude control. In Poster au 19ème Colloque de Biologiede l’Insecte (CBI), Albi, France, June 2019

2. Aimie Berger-Dauxère, Gilles Montagne, and Julien R Serres. Uncorrelated optic flow’s invariantscontrolling altitude in honeybees: a new experimental setup. In Poster au 30ème congrés del’Union Internationale pour l’Étude des Insectes Sociaux (UIEIS-SF), Avignon, France, August2019

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3. Ilya Brodoline, Stéphane Viollet, and Julien R Serres. An energy efficient 3d printed leg forbioinspired hexapod robots. In Poster aux Journées des Jeunes Chercheurs en Robotique (JJCR),Vittel, France, Oct. 2019

4. Julien Dupeyroux, Stéphane Viollet, and Julien R Serres. Providing an autonomous hexapodwalking robot with the ability to reorientate: application of a novel ant-inspired celestial compass.In Poster aux Journées des Jeunes Chercheurs en Robotique (JJCR), Biarritz, France, Nov. 2017.https://hal-amu.archives-ouvertes.fr/hal-01643195

5. Julien Dupeyroux, Julien Diperi, Marc Boyron, Stéphane Viollet, and Julien R Serres. A bio-inspired celestial compass for a hexapod walking robot in outdoor environment. In 13ème Journéede l’École Doctorale des Sciences du Mouvement Humain (JEDSMH), Montpellier, France, June2017. https://hal.archives-ouvertes.fr/hal-01643182

6. Geoffrey Portelli, Julien Serres, Franck Ruffier, and Nicolas Franceschini. Pilote automatiquebio-inspiré pour la navigation en 3d. In Actes des Journée des Jeunes Chercheurs en Robotique(JJCR), Neuvy-sur-Barangeon, France, Nov. 2009. http://jnrr09.lms.sp2mi.univ-poitiers.fr/IMG/pdf/portelli_jnrr09.pdf

7. Franck Ruffier, Julien Serres, Geoffrey Portelli, and Nicolas Franceschini. Boucles visuo-motricesbiomimétiques pour le pilotage automatique de micro-aéronefs. In Actes des 7ème JournéesNationales de la Recherche en Robotique (JNRR), Neuvy-sur-Barangeon, France, pages 55–67,Nov. 2009. http://jnrr09.lms.sp2mi.univ-poitiers.fr/IMG/pdf/JNRR_RuffierEtAl.pdf

8. Julien Serres, Franck Ruffier, and Nicolas Franceschini. Un pilote automatique inspiré des in-sectes pour la navigation 3D dans un tunnel. In Actes de la 4ème Journée de l’Ecole DoctoraleSciences du Mouvement Humain (JEDSMH), Avignon, France, May 2008. https://hal-amu.archives-ouvertes.fr/hal-02298370/

9. Geoffrey Portelli, Julien Serres, Franck Ruffier, and Nicolas Franceschini. 3D navigation with aninsect-inspired autopilot. In Actes de la 2ème conférence française de Neurosciences Computa-tionnelles (NEUROCOMP), Marseille, France, Oct. 2008. https://hal.archives-ouvertes.fr/hal-00331566/

10. Julien Serres, David Dray, Franck Ruffier, and Nicolas Franceschini. Pilote automatique bio-inspiré basé sur la vision du mouvement. In Actes des 6ème Manifestation des Jeunes Chercheursen STIC, Marseille, France, Oct. 2008. https://hal-amu.archives-ouvertes.fr/hal-02298360/

11. Julien Serres, Franck Ruffier, and Nicolas Franceschini. Guidage visuel d’un aéroglisseur minia-ture dans un corridor. In Actes des 6ème Journées Nationales de la Recherche en Robotique(JNRR), Obernai, France, Oct. 2007. https://hal-amu.archives-ouvertes.fr/hal-02298992/

12. Julien Serres, Franck Ruffier, and Nicolas Franceschini. Réguler le flux optique latéral pournaviguer dans un corridor. In Actes des 5ème Journées Nationales de la Recherche en Robotique(JNRR), Guidel, France, pages 289–290, Oct. 2005. https://hal-amu.archives-ouvertes.fr/hal-02298950/

4.10 Patents (1)1. Jocelyn Monnoyer, Julien Dupeyroux, Julien Serres, and Stéphane Viollet. Dispositif de détection

d’un cap d’un véhicule par détection de photons polarisés linéairement. N◦ 2018P00919 FR/JPX,09 2018 (submitted)

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5 Invited conferences

• Nicolas Franceschini, Franck Ruffier, and Julien Serres (2011)Insect-inspired optic flow sensors and autopilots.Keynote lecture at the International Workshop on Bio-inspired Robot,(Nantes, France, April 6-8)

• Nicolas Franceschini, Franck Ruffier, and Julien Serres (2011)Des robots neuromimétiques pour mieux comprendre.Colloque ”NeuroStic” (à l’invitation du Dr M. Paindavoine, Univ. de Dijon)(UPMC, Paris, France, Jan. 31 - Feb 1st)

• Nicolas Franceschini, Franck Ruffier, and Julien Serres (2010)From insects to robots and back again.Keynote lecture at the ESF Conf. Functional Neurobiology in Minibrains: From Flies to Robotsand Back Again,(Sant Feliu de Guixols, Spain, Oct. 17-22)

• Nicolas Franceschini, Franck Ruffier, and Julien Serres(2010)Optic Flow Sensors and optic flow based piloting.International SAB Workshop : « Smarter Sensors, Easier Processing » (à l’invitation du Prof.H. Perremans, Univ of Antwerpen, Belgium)(UPMC, Paris, France, August 24)

• Geoffrey Portelli, Julien Serres, Franck Ruffier, and Nicolas Franceschini (2009). Flying in 3Dwith an insect-inspired visual autopilot. Poster presentation in ”Visual processing in insects:from anatomy to behavior II”, Janelia Farm Research Campus, HHMI(Washington DC, USA, May 17-20)https://hal-amu.archives-ouvertes.fr/hal-02301416

• Nicolas Franceschini, Franck Ruffier, Julien Serres, and Fabrice Aubépart (2009). Bioinspiredoptic flow sensors and optic flow based autopilots.Keynote lecture at the USA-China Workshop on bio-inspired smart systems: materials, mechan-ics, control and sensor innovation,(Dalian, China, July 20-22)

• Nicolas Franceschini, Franck Ruffier, and Julien Serres (2009)Controlling navigation by optic flow sensors: the fly automatic pilot.Keynote lecture at the Progress in Motor Control VII (The International Society of Motor Con-trol), (Marseille, France, July 23-25)

• Nicolas Franceschini, Franck Ruffier, and Julien Serres (2009)Bio-inspired optic flow based autopilots.Keynote lecture at the International Symposium on Aero-aqua Bio-Mechanisms (ISABMEC),(Shanghai, China, August 29 - Sept. 2)

• Geoffrey Portelli, Julien Serres, Franck Ruffier, and Nicolas Franceschini (2009). Piloting withan insect-based visual autopilot.RTP Bionique meeting 2009, Entitled ”Moving in fluids for animals and robots: physics, (bio)mechanics,control and perception”(ESPCI et UPMC, Paris, France, Nov. 12-13)

• Franck Ruffier, Nicolas Franceschini, Julien Serres (2007)Vision based autopilot in flies.

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Keynote lecture at Visual Processing in Insects : From Anatomy to Behavior. Janelia FarmResearch Campus, HHMI(Washington DC, USA, April 29 - May 2)https://hal-amu.archives-ouvertes.fr/hal-02301434

6 Press releases

• Works published on 23 August 2017 in the journal Scientific Reports.Comment les abeilles apprennent du sol au plafond ! (CNRS-INSB)Techno-Sciencetwitter.com

• Works published on 13 February 2019 in the journal Science Robotics.Le premier robot à pattes qui se déplace sans GPS. (CNRS)17,000 views on YouTubeCe robot a vraiment le sens de l’orientation.(CNRS Le Journal)AntBot : le robot fourmi. (Reportage CNRS)AntBot. (CNRS in English)

twitter.comThis ant-inspired robot can navigate better than civilian GPS. Science.AntBot makes its own way home. Nature Electronics.A 6-legged robot stares at the sky to navigate like a desert ant. Wired.Ant-inspired walking robot navigates without GPS by using polarized light. Digital Trends.Robot mimics desert ants to find its way home without GPS. New Scientist.Robot weet de weg zonder gps dankzij woestijnmier. de Volkskrant.AntBot, un robot autonome inspiré par des fourmis du désert. Le Monde.+29,000 views on YouTubeUn robot à pattes qui a le sens de l’orientation. Challenges.Un capteur peu coûteux pour naviguer sans GPS. Les Echos.C’est une innovation marquante: ce robot-fourmi s’oriente sans GPS. France Inter.Marseille : le robot inspiré de la fourmi du désert. La Provence.Un robot qui se déplace sans GPS conçu à Marseille. La Marseillaise.Voici Antbot, un robot inspiré des fourmis et qui se déplace sans GPS. Futura Sciences.Ce robot réussit à s’orienter grâce à la lumière du soleil. Science et Vie.AntBot : le tout premier robot évoluant sans GPS pour se repérer. Trust My Science.Ce petit robot qui navigue sans GPS comme une fourmi. The Conversation.Un robot à pattes sans GPS. Le Blob.AntBot is able to go home like desert ants. The Science Breaker,DOI: 10.25250/thescbr.brk252, August 29th, 2019.AntBot : un robot fourmi autonome qui navigue sans GPS. LA LETTRE Grand Luminy Technopôle,no. 100, p. 12, Mai 2019.AntBot, le robot fourmi qui ne perd pas le nord ! La Lettre d’AMU, no. 72, p. 32-33, Mai 2019.AntBot, un robot fourmi qui navigue sans GPS. Revue TELECOM, no. 193, p. 53-55, Juin 2019.

M6. TV news 12.45 of February 19, 2019.France24. Program Tech 24 of February 22, 2019.France2. Program Télématin of April 30, 2019.France24. AntBot, un robot qui ne se perd jamais. Viva Technology Exhibition of May 17, 2019. +2,000 views on YouTube

Today with the ”AntBot+CNRS” request on Google, AntBot robot referencing on more than 3980 web-sites.

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Research work selected among the fifteen or so major discoveries and advances in Provence that werehighlighted during a travelling exhibition celebrating the 80th anniversary of the CNRS (poster: AntBot,a bio-inspired robot that is located thanks to the celestial vault), and which has been distributed on cul-tural and university sites, local authorities, including the town hall of the 9th/10th districts of Marseilleand the Southern Regional Council.

From July to August 2019, AntBot participated in the exhibition Leonardo da Vinci ”drawing inspirationfrom life, Leonardo’s biomimicry to the present day” as part of the 500th anniversary of the Renaissanceat the Musée de Sologne, Mairie de Romorantin-Lanthenay, 41200 Romorantin-Lanthenay, France.

• Works published on 9 October 2019 in the journal Royal Society Interface.Y a t-il un pilote dans l’oiseau ? / Is there a pilot in the bird? (CNRS-INSB)twitter.com (INSB-CNRS)twitter.com (Royal Society Publishing)Techno-Science

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