Partners & consortium


Consortium structure

The consortium proposes to investigate problems with the originality of integrated aspects on computation, communication and control (3C). The combination of these 3C's disciplines provides an original and innovative character to the project, which requires the support from researchers with complementary skills in areas of control, communication, real-time computation (throughout the competence of the NeCS INRIA-GIPSA-lab research team), but also the possibility to evaluate the proposed control structures through a graphical interface (PGES) and simulations (PROLEXIA), for a particular scenario defined by a well identified end-user research centre (IFREMER) in the field of underwater marine research.

Each of the partners forming this consortium is described in detail below.

     NeCS is an INRIA-GIPSA-lab joint team-project supported by the CNRS, INRIA, INPG and UJF. The team goal is to develop a new control framework for assessing problems raised by the consideration of new technological low-cost and wireless components, the increase of systems complexity and the distributed and dynamic location of sensors (sensor networks) and actuators. In this framework, control design is performed under general resources constraints including communication, computation, and energy. In that, the team targets an innovative step forward in the feedback design for networked distributed systems by the development of combined control, computing & communication (3C). The team is a bi-located at INRIA-RA (Montbonnot) and at the GIPSA-lab (at the Grenoble campus).


  • Carlos Canudas de Wit : Director of research at the CNRS (Project leader, control)
  • Mazen Alamir :   Researcher at the CNRS (Optimization and nonlinear control)
  • Nicolas Marchand :  Researcher at the CNRS (Model Predictive Control)
  • Cyrille Siclet : Associated professor at the UJF (Signal processing)
  • Laurent Ros :  Professor at the INPG (Signal processing)
  • Daniel Simon : Researcher at the INRIA-RA (Scheduling and real-time control)
  • Jonathan Jaglin : Ph.D Student (Differenital coding)
  • Pascal Bellemain : Sorftware support (DAC, GIPSA-lab)
  • Jonathan Dumon :Hardware support, webmaster (DAC, GIPSA-lab)
  • Alain Kibangou : Post Doc (Underwater acoustic communications)
  • Emilie Roche : Ph.D Student (robust control)
  • Lara Briñòn : Ph.D Student (fleet control)
  • Jiri Zikmund : Post Doc (optimal control)
  • Brandon Moore : Post Doc (fleet control)
  • Alexandre Seuret: Researcher at the CNRS (Networked Controlled systems)
  • Gorka Gomez : Former Master student (Underwater acoustic communications)

    Ifremer is the French research Institute for sea exploitation. It has a great experience in research project, including European projects in the subsea robotics domain; it has participated in the SWIMMER project (within the THERMIE programme) aiming at the development of an hybrid ROV/AUV vehicle, and more recently participated in the ALIVE project (GROWTH programme) which aimed in the development of an Intervention AUV. Ifremer has also been involved in the ADVOCATE and ADVOCATE 2 projects (IST programme) aiming at the development of modular and distributed architecture for AUVs and in the FREESUB project (RTN-FP5). Ifremer is partner of the GREX EU project (IST programme) starting in 2006 focused on the study of the co-ordination of marine systems.
  Not least through this projects Ifremer retains a world leading position in the deep sea intervention domain with several well known operational systems as the manned submersible Nautile, the deep sea 6000m ROV VICTOR, a large oceanographic fleet and several research centres with testing and qualification facilities. The Asterx AUV owned by Ifremer is the most recent vehicle of the Institute, and is the first of the fleet Ifremer wants to develop and operate for scientific exploration in coastal areas (up to 3000m). This first AUV is proposed to be used within this project as an experimental set-up, through the use of its simulation platform.


  • Michel Perrier :research engineer, leading the “Positioning, Robotics, Acoustics and Vision” service
  • Toussaint Edmond: engineer in electroacoustics domain, expert in acoustic equipments
  • Michele Drogou: engineer in acoustics domain, expert in Underwater Acoustics Communication systems.
  • Lorenzo Brignone: Former research engineer (Robotics and Underwater Systems)
  • Jérome Bois :Former Software support

    PGES (Perception and Guidance Embedded Systems) is an independent French SME based in Meylan, near Grenoble. PGES was created in 2001. Since then, it has experienced a regular growth of its turnover, reaching 450 KE in 2007. PGES puts a high effort in self-funded Research and Development, and obtained the label “young innovative enterprise”. PGES is an early member of the “EUROP” European robotic platform. The company has focused its activity on two markets:

  • Engineering for the Defence: Mobile robotics systems, and military technological demonstrators.
  • Guidance of professional vehicles: Products for the geo-positioning and aided-driving of heavy duty vehicles 2 sectors are addressed: civil engineering (CIRC products for road construction machines) and mountain (SNOWsat product for ski slopes snow-groomers).


On these markets, PGES has specialised in the realisation of hi-tech systems allowing:

  • Accurate localisation,
  • Environment perception,
  • Aided-driving or navigation, of manned or unmanned vehicles

PGES will contribute to the project mainly through its double expertise in graphical software engineering, and in the technological area of human-robot interaction. See more details at (

PGES is now a department of ROBOSOFT since 01/02/2009.


  • Aubert Carrel : Director of PGES
  • Francis Martinez : PGES Technical Manager
  • Julie Caquas : Software support

     Prolexia is a SME, located at La Seyne sur Mer. It was founded in 1994 with the objective to develop a high level development platform for modelling, simulation and virtual reality interfaces, see (
This platform, called Advansys is operational since 1996 and is used in a variety of projects, particularly for robotic systems. The platform was already used by several partners: DGA, DCNS, IFREMER, ONERA.

  Advansys platform includes:

  • A modelling tool based on an extended UML graphical language,
  • A simulation tool for 3D physical simulation and logical simulation,
  • A graphical 2D Map tool to prepare geographic based simulation,
  • A 3D visualisation tool to visualise in real time the evolution of simulated actors in the environment.

     Advansys could be used for real-time simulation with hardware in the loop but could also be used for system performance evaluation by using a Monte-Carlo simulation method.
Advansys has been used in different scenarii. Some examples are:

  • SIMAC: Acoustic environment simulator used by Ifremer to validate underwater vehicles positioning systems in different environments, this simulator based on an original particle propagation system and is directly connected to the hardware navigation system,
  • ADAR : AUV and Ship simulator used in Mine warfare for the DGA,
  • NAVLAB(DCN): Battle Lab 3D simulator used for global system simulation with all kinds of vehicles: Vessels, AUV, UAV, Ground vehicles,
  • TELEDRIVE: ROV simulator and remote driving system using virtual reality,
  • IOVAS: AUV mission preparation tool used for the DGA AUV Redermor.

     Prolexia also participated to the Athena project where the main goal was to evaluate the performance of heterogeneous squadron of flying vehicles (piloted, autonomous, tele-operated). Athena is based on a distributed simulator.
Since 2005, Prolexia develops the Mission preparation and supervision tool for IFREMER’s AUV AsterX. This tool is named MIMOSA.


  • Stéphane NICOLAS : Director of PROLEXIA
  • Nicolas Maciol : "Environment simulator" Project Manager
  • Gaël KERMET : Advansys 3D Development team member