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  • Aerial Robotics Testbed

    Aerial Robotics Testbed

  • fracio

    A tool to generate diagrams from Fiacre source files.


    Hazard analysis technique mixing the risk analysis technique HAZOP (Hazard Operability), and the system description language UML (Unified Modelling Language)

  • LaTeX-LAAS

    Thèmes, styles ou autres outils LAAS pour produire des documents LaTeX.

  • LoPy-synchronization

    This project provides MicroPython implementations of synchronized MAC access schemes over LoRa for the Pycom LoPy boards, specifically the LoRaWAN class B and a novel class S.

  • mirage

    Mirage is a powerful and modular framework dedicated to the security analysis of wireless communications.

    WARNING: this repository is outdated. The project is still active and can be found on GitHub:

  • move3d

    move3d fork for testing pull-request based software dev. mgmt. in RIS team by few interested PhD students.
    This test may end up by applying this mgmt to the whole dev. of move3d.

    • move3d_facts

      ROS node computing geometric facts based on libmove3d

    • move4d

      Fork of move3d with lots of changes

      • no more libmove3d-hri
      • support for different kind of trajectories
      • plugin based
      • python bindings
      Features not implemented at the moment (and not planned on short-term):
      • GTP
      • ...
  • OwnTech

    OwnTech - Technology worth sharing

    The OwnTech project is dedicated to create an Open-Source technological suit for creating low-cost, reliable and smart decentralized micro-grids. From power electronics to micro-grid expansion simulators, each contribution from OwnTech is structures in open-source sub-projects....

    • OwnFlow

      OwnFlow - Let your grid flow

      This project couples the use of multiple load-flow and a cash-flow simulation to give its user a tool to plan micro-grid expansion through a scenario-based analysis.

    • OwnPower

      Open-Source multi-purpose power electronics converters

      • single-phase

        A single-phase power board project, containing hardware, firmware and software for this power electronics module.

  • redmine@laas

    Redmine installation at LAAS.

  • ArpAgeFilter

    Utilisation d'arpwatch et ldap pour detecter les trop vielles machines encore déclarées

  • owncloud

    customisations de OwnCloud au LAAS

  • vnc4mybrowser

    Shell wrapper to start/stop/monitor VNC and noVNC(web) servers.

  • wifi-laas

    script de configuration profils wifi pour le LAAS et Eduroam @ LAAS

  • TAF

    The code available in this repository is a prototype of a tool to generate test environment. Note that the tool is still under development.

  • upsmon

    Infrastructure de monitoring appliquée aux onduleurs.

  • dynamixel

    This project hosts some works related to the Dynamixel motors made by Gianluca Corsini (, ).

    See the wiki section for more details about the subprojects....

  • matlab

    A collection of MATLAB-based and -related software.

    • MATAMviz

      A MATLAB-based visualizer for Aerial Manipulators.

      More details in the Wiki section.

    • mat-utils

      This project contains a library of some MATLAB-based utility functions.

      How to use it?

      Clone repository

      1. Clone the repository anywhere
      2. Add the environmental variable MAT_UTILS pointing to the path to this repository.
        Therefore, in your .bashrc, you should have something like...
  • bib

    bibliography database

  • NMPC for Human Aerial Handover

    This project contains the git repository for the IROS2022 paper submission titled Nonlinear Model Predictive Control for Human-Robot Handover with Application to the Aerial Case.

    The REPOSITORY contains the source code of the controller, and the complementary modules that are not available on git.openrobots....

  • Visual and Physical Control Architecture for Flying End-Effector

    This project contains the git repository for the AIRPHARO paper submission titled A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles

    The repository contains the source code of the controller and the complementary modules (supervisor, camera, aruco detector...)...

  • beamer-laas

    My (non-official) beamer template following the LAAS-CNRS graphic guidelines.

    Credits goes to Guilhem Saurel, as this template is based on the one he built for his thesis defense (

  • Multi Agent NMPC for Active Information Acquisition

    This project containts the git repository for the RAL paper submission titled "Motor-level N-MPC for Cooperative Active Perception in Heterogeneous Multi-agent UAVs"

    The repository contains the source code of the controller and the complementary modules (camera, aruco detector...)...

  • NMPC for Enforced Vision-Based Localization

    This project containts the git repository for the IROS submitted paper titled "Enforcing Vision-Based Localization using Perception Constrained N-MPC for Multi-Rotor Aerial Vehicles".

    Preprint and video available at

  • Perceptive and torque-control NMPC

    This project containts the git repository for the RAL paper entitled "Motor and Perception Constrained NMPC for Torque-controlled Generic Aerial Vehicles"

    The repository contains the source code of the controller and the complementary modules (camera, aruco detector...)...

  • kalman_filter

    Kalman filter used in lwrc to estimate position, velocity and acceleration of the arm.

  • LibNoWebsocket

    native stream sockets between C and HTML5

  • pfcalcul

    admin scripts for slurm+docker on a cluster

  • CCC

    Cours de Calculabilité, Combinatoire et Complexité

  • EvacSim
    Script Python pour
    1. 1 Générer des réseaux routiers aléatoires
    2. 2 Simuler des incendies
    3. 3 Générer des plans d'évacuation "crédibles"
    4. 4 Générer des instances du problème d'évacuation dans un format texte pour un modèle CPO
  • LaasTemplate

    Latex Beamer Template

  • PySched

    Python library for resource-constrained scheduling with LaTex outputs

  • WODES'22

    Article pour la conférence WODES 2022
    Travaux du stage d'Ibis : diagnostic actif pour la localisation de dérives temporelles

    • ACUMOS Planners

      Some code to make regular action planners available in ACUMOS.

    • bt2fiacre

      Behavior Trees are becoming more and more popular in robotics. Let see what kind of formal V\&V we can consider by translating them to Fiacre, to get TTS and run some model checking, or run the real experiment with Hippo.
      See the example directory for examples....

    • CT_drone

      A GenoM3 module to do some simple image analysis from a drone.
      - grab an image in a ROS topic,
      - look for some color blob with OpenCV,
      - record the position (obtained from POM) in a findings map,
      - export the findings map in an OccupancyGrid which is then displayed with the help of tf2-genom3...

    • CT_robot

      Simple project used to illustrate the RAS 2022 paper.

    • demo-genom3

      The basic demo-genom modules with branches to do some testing without polluting the official branch.

    • Drone V&V

      This project describes some of the GenoM3 based V&V techniques one can use on the LAAS drone experiment.

    • Felix GenoM3 Utils

      Macros, and other code utilities I use in various GenoM3 modules.

    • Felix IDL

      Some IDL types I use in various projects (Osmosis, Minnie)... not present in openrobots-idl...

      Some of these types are in fact ROS msgs IDL definitions which can then be masqueraded.

    • joystick-maneuver

      A small GenoM3 client to control maneuver-genom3 and rotorcraft-genom3 with joytick-genom3...

      ... this also gives an example of an adhoc genom3 client in C.

    • Mikrokopter Visualisation

      This GenoM3 module reads the pom state port and display a mikrokopter in a running Morse simulation.

    • Minnie

      Minnie project to show how GenoM based robots can use V&V tools.

      This project puts together various GenoM3 components to get Minnie moving and show how formal tools and framework can be used to verify interesting properties, or to enforce them at run time....


      LAAS Code (GenoM3) for the OSMOSIS show case.

      This project contains all the GenoM3 components needed for the OSMOSIS show case, as well as instructions on how to set it up and run varous V&V tools along/

      Check the Documentation tab for more information....

    • ProSkill

      New project to design a new procedural langage to specify and write acting skills.
      The main driver is to enable the synthesis of a Fiacre formal model equivalent to the skills, as to enable V&V, as well as Runtime Verification.
      For now, we got started with the SkiNet grammar, and mixed it with some OpenPRS control structure. Hence the heavy code share with OpenPRS to get started....

    • RobNav

      Project to implement a number of simple GenoM3 modules to "simulate" a navigation loop similar to the one used on Dala/Mana.

      The goal is to play with these modules with Fiacre and BIP templates.

    • ROS ACUMOS bridge

      This small project show how one can bridge ROS and ACUMOS (for H2020 AI4EU and subsequent projects).

      It contains a number of small programs to illustrate the different ways this can be done.

      Most of the code is from the ROS and gRPC tutorial programs....

    • ROSPlan ACUMOS bridge

      Small project to study how we can call ROSPlan planners (for now) from ACUMOS components.

    • V & V

      Just a project place holder for the various V&V templates, tools I work on. Check the subprojects for real code and repository.

  • Frédéric Blanc

    Fred's projects

    • C.A.O conception assistée par ordinateur

      INKSCAPE éditeur de graphismes vectoriels libre
      KICAD suite logicielle de conception pour l'électronique
      FLATCAM conception d'usinage pour les fraiseuses CNC.
      CANDLE logiciel de contrôle pour CNC basé sur GRBL

    • Capteurs Repartis V3.0

      Nouvelle génération de capteurs, a base de ESP32 et de protocole MQTT


      • Code ESP32

        code de programmation ESP32

      • KICAD PCB ESP32

        Carte fille ESP32 compatible avec l’ancienne génération de capteurs repartis LPC1768

    • crwtrms

      Capteur intelligent pour le suivi du réseau électrique


    • ESP32

      SOC (System On a Chip) High Level of Integration Hybrid Wi-Fi & Bluetooth Chip,
      Ultra-Low Power Consumption (Hibernatation mode Current consumption:4.5µA).
      CPU dual-core 32-bit , up to 600 DMIPS and 520 kB SRAM.
      Two SAR ADCs (12bits), with simultaneous sampling and conversion...

    • HLW8xxx

      Compteur d'énergie HLW8032 et HLW811x

    • Hyperproto_code

      Hyperproto est le prototype d'un hyper-spectromètre a base de DLP


    • Hyperproto_FPGA

      pilotage du demo board DLP4100, pour le prototype d'hyperspectroscope


    • IOT DR

      exemple internet des objets faible cout a base d'ESP (firmware Esay Mega), et gestion par jeedom

    • Karl_Suss_AP6

      station sous pointe Karl Suss AP6


    • LPWAN

      LOng RAnge (Wide-Area Network).
      the LoRa Community, a premier platform for IoT (Internet of Things) and M2M (machine to machine) technologists, developers, end users, and solution providers.
      LoRaWAN is a media access control layer protocol for managing communication....

    • MOTOR 1 AXE AccelStepper

      Pilotage moteur pas a pas 1 axe avec contrôle de l'accélération

    • MOx Metal Oxide semiconductor gas sensors

      Metal oxide semiconductor gas sensors are utilised in a variety of different roles and industries. They are relatively inexpensive compared to other sensing technologies, robust, lightweight, long lasting and benefit from high material sensitivity and quick response times. They have been used extensively to measure and monitor trace amounts of environmentally important gases such as carbon monoxide and nitrogen dioxide....

    • Red Pitaya

      Couteau suisse pour les ingénieurs.
      outils de développement:
      Vivado -> FPGA


    • T_Batt

      Banc de test pour le cyclage de batteries électrochimique

    • tec_oled

      Affichage consigne et température photodiode régulateur TC8

  • Gianluca Corsini Homepage

    |{width:500px}.!!|{width:1000px}. Greetings, welcome to my website!
    I'm Gianluca Corsini, a passionate roboticist hailing from Misano Adriatico, a nice city in the province of Rimini, Italy....

  • m3d-remote-plot

    m3d-remote-plot is a tool written in python, using scipy, which serves as a data visualizer for move3d. It communicates with it through TCP/IP sockets, so it can be used remotely.

  • icub_fts_wrapper

    ROS node to wrap the icub library made by Matthieu.

  • sandbox_simple

    Example of a single robot (base + arm) manipulating a bar.
    Use of closed chain kinematics.

  • moveit_ompl_planning_interface

    Code used with dual_arm_worker version melodic and dual_arm_planning_api.


  • Matthieu Herrb

    Matthieu's projects

  • GenoM3-UPPAAL

    GenoM3 to UPPAAL and UPPAAL-SMC template

  • SemIoTics

    Autonomic IoT devices manager connected to a knowledge base and ontologies

  • aline

    JULIA Package for the computation of piecewise linear non necessarily continuous functions to approximate or bound non linear continuous fonctions

    • LinA

      JULIA Package for the computation of piecewise linear non necessarily continuous functions to approximate or bound non linear continuous fonctions

  • CAMS

    Main repositories of CAMS code

  • inFuse

    LAAS internal work related to the h2020 InFuse project

    • infuse_asn1_types
    • infuse-asn1-conversions
    • infuse-novatel-gps-driver
    • infuse-velodyne-genom3
    • infuse-pom-base
    • infuse-pom-crisp
    • infuse-envire
    • infuse-crisp-genom3
    • infuse-pom-tokamak...
  • Nephelae

    All the work / documents / code developed within the Nephelae ANR project (01/2018 - 06/2021)

    • Developments (deprecated)

      This is a legacy version of Nephelae code base after the major code refactor of 23/08/2019.


  • Precidrone

    This projects gather the various information and work made in the context of the Precidrone project

    • dsaam

      Proof of concept of a time management architecture for building a simulation framework on top of a distributed communication middleware. The software is released under the BSD 2-clause license.
      See file in the repo for more informations.

  • Chariot_cpp

    C++ version of the other chariot project

  • vtl

    Virtual Transport Layer, a protocol deployment management system aiming (1) to dynamically deploy protocol mechanisms/components, in order (2) to ensure optimal data moving between end-points.

  • wazabee

    WazaBee is an attack allowing to transmit and receive 802.15.4 packets by diverting Bluetooth Low Energy chips.

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