Charles Lesire

Research Engineer



Ph.D. in Computer Sciences

ONERA - The French Aerospace Lab

Information Processing and Systems Department

Safe, Embedded and Autonomous Systems (SEAS) team

 

Contact:

address: ONERA-DTIS, 2 avenue Edouard Belin, BP 4025, 31055 Toulouse Cedex 4, France

phone: +33 5 62 25 27 71

fax: +33 5 62 25 25 64

email : Charles.Lesire@onera.fr

 

Activities

 

Selected publications

For a complete list of publications: this page, DBLP, Scholar

 

  • , , (2015)

    Managing Dynamic Multi-Agent Simple Temporal Network.

    In International Conference on Autonomous Agents and MultiAgent Systems (AAMAS), Istanbul, Turkey.
  • Nicolas Gobillot, Charles Lesire, and David Doose (2014),

    A Modeling Framework for Software Architecture Specification and Validation.

    In International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), Bergamo, Italy.
  • Caroline Ponzoni Carvalho Chanel, Charles Lesire, and Florent Teichteil-Königsbuch (2014),

    A Robotic Execution Framework for Online Probabilistic (Re)Planning 

    In International Conference on Automated Planning and Scheduling (ICAPS) Robotics Track, Porthsmouth, NH, USA.
  • Caroline Carvalho Chanel, Florent Teichteil-Königsbuch, and Charles Lesire (2013),

    Multi-Target Detection and Recognition by UAVs Using Online POMDPs,

    In AAAI Conference on Artificial Intelligence (AAAI), Bellevue, WA, USA.
  • Gilberto Echeverria, Séverin Lemaignan, Arnaud Degroote, Simon Lacroix, Michael Karg, Pierrick Koch, Charles Lesire, Serge Stinckwich (2012),

    Simulating Complex Robotic Scenarios with MORSE,

    In International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), Tsukuba, Japan.
  • Florent Teichteil-Königsbuch, Charles Lesire, Guillaume and Infantes (2011),

    A generic framework for anytime execution-driven planning in robotics.

    In International Conference on Robotics and Automation (ICRA), Shanghai, China.
  • Yoko Watanabe, Charles Lesire, Alain Piquereau, Patrick Fabiani, Martial Sanfourche, and Guy Le Besnerais (2010),

    The ONERA ReSSAC Unmanned Autonomous Helicopter : Visual Air-to-Ground Target Tracking in an Urban Environment.

    In American Helicopter Society 66th Annual Forum (AHS), Phoenix, AZ, USA.
  • Ananda Basu, Matthieu Gallien, Charles Lesire, Than-Hung Nguyen, Saddek  Bensalem, Félix Ingrand, and Joseph Sifakis (2008),

    Incremental Component-based Construction and Verification of a Robotic System.

    In European Conference on Artificial Intelligence (ECAI), Patras, Greece.
  • Yasmina Abdedaim, Eugène Asarin, Matthieu Gallien, Félix Ingrand, Charles Lesire, and Mihaela Sighireanu (2007),

    Planning Robust Temporal Plans A Comparison Between CBTP and TGA Approaches.

    In International Conference on Automated Planning and Scheduling (ICAPS), Providence, RI, USA.
  • Charles Lesire and Catherine Tessier (2005),

    Particle Petri nets for aircraft procedure monitoring under uncertainty.

    In International Conference on Application and Theory of Petri Nets and Other Models of Concurrency (ATPN), Miami, FL, USA.

 

Students

Ph.D. Students

  • Erwan Lecarpentier: Exploration active d'environnement inconnu pour la robotique autonome, 2016-2019, Ecole Doctorale Systèmes, Université de Toulouse. Co-advised with Guillaume Infantes (ONERA) and Emmanuel Rachelson (ISAE).
  • Jorrit T'Hooft: Architecture de planification pour la navigation autonome d'un robot, 2014-2017, Ecole Doctoral Systèmes, Université de Toulouse. Co-advised with Florent Teichteil (Airbus Group Inovations) and Caroline Chanel (ISAE-Supaero).
  • Guillaume CasanovaOrdonnancement de tâches multi-agents avec contraintes de communication, 2013-2017, Ecole Doctorale Systèmes, Université de Toulouse. Co-advised with Cédric Pralet (ONERA).
  • Patrick Béchon: Planification multi-robots pour des missions de surveillance avec contraintes de communication 2013-2016, Ecole Doctorale Systèmes, Université de Toulouse. Co-advised with Magali Barbier (ONERA) and Simon Lacroix (LAAS/CNRS). Patrick has now a full position at DGA TT, Bourges, France.
  • Nicolas Gobillot: Validation d'architectures logicielles pour la robotique, 2012-2015, Ecole Doctorale Système, Unversité de Toulouse. Co-advised with David Doose (ONERA). Nicolas is now waiting for a post-doctoral position at CEA-LIST.
  • Thibault Gateau: Supervision de mission pour un ensemble de véhicules autonomes hétérogènes, 2009-2012, Ecole Doctorate Systèmes, Université de Toulouse. Co-advised with Magali Barbier (ONERA). Thibault has now a post-doctoral position at ISAE-Supaero, Toulouse, France

M.Sc. Students

  • Marine Heckler: Exploration active d'environnement inconnu pour la robotique autonome, M2, Univ. of Toulouse, March-August 2015. Co-advised with Florent Teichteil (ONERA) and Guillaume Infantes (ONERA).
  • Rija Raodina: Interdistance control of fying Parrot quadrirotor robots, ENSEEIHT, Toulouse, March-September 2014. Co-advised with Charles Poussot-Vassal (ONERA).
  • Jorrit T'Hooft: Architecture de planification pour la navigation autonome d'un robot, Univ. of Toulouse, March-August 2014. Co-advised with Florent Teichteil (ONERA).
  • Victor Poughon: Architecture de planification pour la navigation autonome d'un robot, EFREI, Feb.-July 2013. Co-advised with Florent Teichteil (ONERA).
  • Odysseas Gabrielides: Ordonnancement de tâches multi-agents avec contraintes de communication, Univ. of Toulouse, March.-Aug. 2013. Co-advised with Cédric Pralet (ONERA).
  • Nicolas Gobillot: Planification de mission pour la robotique autonome prenant en compte des modèles de l'environnement, Polytech' Montpellier, Feb.-Aug. 2012. Co-advised with Magali Barbier (ONERA).
  • Damien Bigot: Planification et supervision de mission pour une équipe de véhicules autonomes hétérogènes, Univ. de Caen, March-Aug. 2011. Co-advised with Magali Barbier (ONERA).
  • Simon Vernhes: Optimisation des mouvements au sol sur un aéroport, INSA Toulouse, Feb.-June 2011. Co-advised with Jean-Baptiste Gotteland (DSNA/DTI).
  • Thibault Gateau: Supervision de mission pour un ensemble de drones, M2R IT Intelligence Artificielle, INPT, March-Aug. 2009. Co-advised with Magali Barbier (ONERA).
  • Andres Rojas: Développement d'un planificateur pour la coopération homme-robot, M2 ISAE/Supaero, Feb.-June 2009. Co-advised with Frédéric Dehais (ISAE/Supaero).
  • Pascal Schmidt: Architecture pour la coopération et la localisation automatique de plusieurs engins autonomes dans un environnement inconnu, M2R IT, ISAE, Feb.-June 2008. Co-advised with Magali Barbier (ONERA).
  • Quentin Andrieu: Modélisation formelle de l'attention visuelle d'un opérateur humain, M2 Institut de Cognitique de Bordeaux, Feb.-June 2008. Co-advised with Catherine Tessier (ONERA) and Frédéric Dehais (ISAE/Supaero).
  • Pablo Seban: Vers un modèle dynamique de l'attention visuelle d'un opérateur, M2R Intelligence Artificielle, Université Paul Sabatier, Toulouse, Feb.-June 2007. Co-advised with Frédéric Dehais (ISAE/Supaero) and Catherine Tessier (ONERA).

 

Teachings

  • Introduction to Artificial Intelligence, ENAC (The French Civil Aviation University), 2d year (M1) Computer Science students;
  • Autonomous Robotics Applications, ISAE/Supaero, 3rd year (M2) Embedded Systems students;
  • Robotic Case Study, ISAE/Supaero, 3rd year (M2) Control Theory students;

,

Publications

2016

Charles Lesire, Guillaume Infantes, Thibault Gateau and Magali Barbier (2016),

A distributed architecture for supervision of autonomous multi-robot missions -- application to air-sea scenarios


Autonomous Robots, vol. 40(7), pages 1343-1362.

Nicolas Gobillot, Fabrice Guet, David Doose, Christophe Grand, Charles Lesire, and Luca Santinelli (2016),

Measurement-Based Real-Time Analysis of Robotic Software Architectures


In International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea.

Guillaume Casanova, Cédric Pralet, Charles Lesire, and Thierry Vidal (2016),

Solving Dynamic Controllability Problem of Multi-Agent Plans with Uncertainty Using Mixed Integer Linear Programming

In Journée Francophone sur les Systèmes Multi-Agents (JFSMA), Rouen, France.

In European Conference on Artificial Intelligence (ECAI), The Hague, Netherlands.

Jorrit T'Hooft, Charles Lesire, and Caroline Chanel (2016),

Proactive Planning and Execution Strategies with Multiple Hypotheses

In National Conference on Software and Hardware Architectures for Robots Control (SHARC), Brest, France.

In Starting AI Research Symposium (STAIRS) at European Conference on Artificial Intelligence (ECAI), The Hague, Netherlands.

Guillaume Casanova, Charles Lesire, and Cédric Pralet (2016),

Gestion des réseaux temporels simples multi-agents dynamiques,

Revue d'Intelligence Artificielle, vol. 30(1-2), pages 11-33.


2015

Nicolas Gobillot, Charles Lesire, David Doose, and Luca Santinelli (2015),

Periodic state-machine aware real-time analysis,

In International Conference on Emerging Technologies & Factory Automation (ETFA), Luxembourg.

Patrick Béchon, Magali Bardier, Charles Lesire, Guillaume Infantes, and Vincent Vidal (2015),

Using hybrid planning for plan reparation.

In European Conference on Mobiles Robots (ECMR), Lincoln, UK.

Guillaume Casanova, Cédric Pralet, and Charles Lesire (2015),

Managing Dynamic Multi-Agent Simple Temporal Networks.

In International Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), Istanbul, Turkey.



Guillaume Casanova, Cédric Pralet, and Charles Lesire (2015),

Gestion des réseaux temporels simple multi-agents dynamiques.

In Journée Francophone sur les Systèmes Multi-Agents (JFSMA), Rennes, France.


BEST PAPER AWARD!


2014

Nicolas Gobillot, Charles Lesire, and David Doose (2014),

A Modeling Framework for Software Architecture Specification and Validation.

In International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), Bergamo, Italy.

Cédric Pralet, and Charles Lesire (2014),

Deployment of Mobile Wireless Sensor Networks for Crisis Management: A ConstraintBased Local Search Approach.

In International Conference on Principles and Practices of Constraint Programming (CP), Lyon, France.

Patrick Béchon, Magali Barbier, Guillaume Infantes, Charles Lesire, and Vincent Vidal (2014),

HiPOP: Hierarchical Partial-Order Planning.

In Journées Francophone de Planification, Décision, Apprentissage (JFPDA), Leuven, Belgium.

In
Starting AI Researcher's Symposium (STAIRS), Prague, Czech Republic.

Guillaume Infantes, Charles Lesire, and Cédric Pralet (2014),

Multi-Robot Planning and Execution for an Exploration Mission: a case study.

In ICAPS Workshop on Planning and Robotics (PlanRob), Portsmouth, NH, USA.

Caroline Ponzoni Carvalho Chanel, Charles Lesire, and Florent Teichteil-Königsbuch (2014),

A Robotic Execution Framework for Online Probabilistic (Re)Planning 

In International Conference on Automated Planning and Scheduling (ICAPS) Robotics Track, Porthsmouth, NH, USA.


2013

Thibault Gateau, Charles Lesire, and Magali Barbier (2013),

HiDDeN: Cooperative Plan Execution and Repair for Heterogeneous Robots in Dynamic Environments,

In International Conference on Intelligence Robots and Systems (IROS), Tokyo, Japan.

Caroline Carvalho Chanel, Florent Teichteil-Königsbuch, and Charles Lesire (2013),

Multi-Target Detection and Recognition by UAVs Using Online POMDPs,

In AAAI Conference on Artificial Intelligence (AAAI), Bellevue, WA, USA.

Nicolas Gobillot, Charles Lesire, and David Doose (2013),

A Component-Based Navigation-Guidance-Control Design Pattern for Mobile Robots,

In ICRA Workshop on Software Development and Integration for Robotics (SDIR), Karlsruhe, Germany,

In National Conference on Control Architectures of Robots (CAR), Angers, France


2012

Gilberto Echeverria, Séverin Lemaignan, Arnaud Degroote, Simon Lacroix, Michael Karg, Pierrick Koch, Charles Lesire, Serge Stinckwich (2012),

Simulating Complex Robotic Scenarios with MORSE,

In International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), Tsukuba, Japan.

Gérard Verfaillie, Vincent Vidal, Cédric Pralet, Florent Teichteil-Königsbuch, Guillaume Intantes, and Charles Lesire (2012),

Synthesis of plans or policies for controlling dynamic systems,

Aerospace Lab, n.4, page 12, 2012.

Charles Lesire, David Doose, and Hugues Cassé (2012),

MAUVE: a Component-based Modeling Framework for Real-time Analysis of Robotic Applications,

In ICRA Workshop on Software Development and Integration for Robotics (SDIR), Saint-Paul, MN, USA.

Thiault Gateau, Charles Lesire, and Magali Barbier (2012),

HiDDeN, une architecture décisionnelle distribuée pour la coopération de véhicules individuellement autonomes,

In Congrès Francophone de Reconnaissance des Formes et d'Intelligence Artificielle (RFIA), Lyon, France.

Thibault Gateau, Charles Lesire, and Magali Barbier (2012),

Robust strategies for multi-robot team collaboration under uncertain communications,

In International Symposium on Distributed Autonomous Robotic Systems (DARS), Poster session, Baltimore, MD, USA.

Thibault Gateau, Gaetan Séverac, Charles Lesire, Magali Barbier, and Eric Bensana (2012),

Knowledge Base for Planning, Execution, and Plan Repair,

In ICAPS Workshop on Planning and Plan Execution for Real-World Systems (PlanEx), Sao Paulo, Brazil,

In National Conference on Control Architectures of Robots (CAR), Nancy, France.

Caroline Carvalho Chanel, Florent Teichteil-Königsbuch, and Charles Lesire (2012),

Planning for perception and perceiving for decision: POMDP-like online target detection and recognition for autonomous UAVs,

In Conference on Prestigious Applications of Intelligent Systems (PAIS) / European Conference on Artificial Intelligence (ECAI), Montpellier, France,

In ICAPS Scheduling and Planning Applications Workshop (SPARK), Sao Paulo, Brazil,

In Journées Francophones Planification, Décision et Apprentissage pour la conduite des systèmes (JFPDA), Nancy, France.


2011

Florent Teichteil-Königsbuch, Charles Lesire, Guillaume and Infantes (2011),

A generic framework for anytime execution-driven planning in robotics.

In National Conference on Control Architecture of Robots (CAR), Grenoble, France,

In International Conference on Robotics and Automation (ICRA), Shanghai, China.

Charles Lesire, David Doose, and Hugues Cassé (2011),

Validation of real-time properties of a robotic software architecture.

In National Conference on Control Architecture of Robots (CAR), Grenoble, France.


2010

Yoko Watanabe, Charles Lesire, Alain Piquereau, Patrick Fabiani, Martial Sanfourche, and Guy Le Besnerais (2010),

The ONERA ReSSAC Unmanned Autonomous Helicopter : Visual Air-to-Ground Target Tracking in an Urban Environment.

In American Helicopter Society 66th Annual Forum (AHS), Phoenix, AZ, USA.

Yoko Watanabe, Charles Lesire, Alain Piquereau, Patrick Fabiani, Martial Sanfourche, and Guy Le Besnerais (2010),

System Development and Flight Experiment of Vision-Based Simultaneous Navigation and Tracking.

In AIAA Infotech@Aerospace, Atlanta, GA, USA.

Thibault Gateau, Magali Barbier, and Charles Lesire (2010),

Local Plan Execution and Repair in a Hierarchical Structure of Sub-Teams of Heterogeneous Autonomous Vehicles.

In International Conference on Automated Planning and Scheduling (ICAPS), Doctoral Consortium, Toronto, Canada.

In National Conference on Control Architecture of Robots (CAR), Douai, France.

Charles Lesire (2010),

Iterative Planning of Airport Ground Movements.

In International Conference on Research in Air Transportation (ICRAT), Budapest, Hungary.

Charles Lesire (2010),

An Iterative A* Algorithm for Planning of Airport Ground Movements.

In Conference on Prestigious Applications of Intelligent Systems (PAIS) / European Conference on Artificial Intelligence (ECAI), Lisbon, Portugal.


2009

Frédéric Dehais, Charles Lesire, Catherine Tessier, and Laure Christophe (2009),

Method and device for detecting piloting conflicts between the crew and the autopilot of an aircraft.

International Patent PCT/FR2009/000648.

Guillaume Infantes, Charles Lesire, Henry de Plinval, and Florent Teichteil-Königsbuch (2009),

An Orocos-based decisional architecture for the Ressac missions.

In National Conference on Control Architectures of Robots (CAR), Toulouse, France.

Magali Barbier, Hung Cao, Simon Lacroix, Charles Lesire, Florent Teichteil-Königsbuch, and Catherine Tessier (2009),

Decision issues for multiple heterogeneous vehicles in uncertain environments.

In National Conference on Control Architectures of Robots (CAR), Toulouse, France.

Charles Lesire (2009),

Automatic Planning of Ground Traffic.

In AIAA Aerospace Sciences Meeting (ASM), Orlando, FL, USA.

Charles Lesire (2009),

Donner de l’autonomie aux drones.

Le Transpondeur, 106:43-46.


2008

Ananda Basu, Matthieu Gallien, Charles Lesire, Than-Hung Nguyen, Saddek  Bensalem, Félix Ingrand, and Joseph Sifakis (2008),

Incremental Component-based Construction and Verification of a Robotic System.

In European Conference on Artificial Intelligence (ECAI), Patras, Greece.

In IROS Workshop on Current Software Frameworks in Cognitive Robotics integrating different computational paradigms, Nice, France.

Pablo Seban, Frédéric Dehais, and Charles Lesire (2008),

Vers un modèle dynamique de l’attention visuelle d’un opérateur humain.

In Congrès Francophone de Reconnaissance des Formes et d'Intelligence Artificielle (RFIA), Amiens, France.

Quentin Andrieu, Frédéric Dehais, Alexandre Izaute, Charles Lesire, and Catherine Tessier (2008),

Towards a dynamic computational model of visual attention.

In International Conference on Humans Operating Unmanned Systems (HUMOUS), Brest, France.

Stéphane Mercier, Catherine Tessier, Frédéric Dehais, and Charles Lesire (2008),

Basic concepts for human / robot shared authority.

In International Conference on Human Centered Processes (HCP), Delft, The Netherlands.

Stéphane Mercier, Catherine Tessier, Frédéric Dehais, and Charles Lesire (2008),

Resources as basic concepts for authority sharing.

In International Conference on Humans Operating Unmanned Systems (HUMOUS), Brest, France.


2007

Yasmina Abdedaim, Eugène Asarin, Matthieu Gallien, Félix Ingrand, Charles Lesire, and Mihaela Sighireanu (2007),

Planning Robust Temporal Plans A Comparison Between CBTP and TGA Approaches.

In International Conference on Automated Planning and Scheduling (ICAPS), Providence, RI, USA.

Ananda Basu, Matthieu Gallien, Charles Lesire, Than-Hung Nguyen, Saddek  Bensalem, Félix Ingrand, and Joseph Sifakis (2007),

Incremental Component-based Construction and Verification of a Robotic System.

In National Conference on Control Architecture of Robots (CAR), Paris, France.

Charles Lesire and Catherine Tessier (2007),

Particle Petri net-based estimation in hybrid systems to detect inconsistencies.

In IFAC Workshop on Dependable Control of Discrete Systems (DCDS), Paris, France.


2006

Charles Lesire and Catherine Tessier (2006),

Estimation and conflict detection in human controlled systems.

In Workshop on Hybrid Systems: Computation and Control (HSCC), Santa Barbara, CA, USA.

Olivier Bonnet-Torrès, Patrice Domenech, Charles Lesire, and Catherine Tessier (2006),

Exhost-PIPE: PIPE extended for two classes of monitoring Petri nets.

In International Conference on Application and Theory of Petri Nets and Other Models of Concurrency (ATPN), Turku, Finland.

Olivier Bonnet-Torrès, Aziz El Bouzidi, Charles Lesire, and Catherine Tessier (2006),

Exhost-PIPE: Playing Plan Petri Nets and Particle Petri Nets.

In International Conference on Application and Theory of Petri Nets and Other Models of Concurrency (ATPN), Tools and Poster session, Turku, Finland.

Charles Lesire and Catherine Tessier (2006),

A Hybrid Model for Situation Monitoring and Conflict Prediction in Human Supervised “Autonomous” Systems.

In AAAI Sping Symposium "To boldly go where no human-robot team as gone before", Stanford, CA, USA.

Frédéric Dehais, Charles Lesire, Patrick Fabiani, and Catherine Tessier (2006),

Situation monitoring and conflict detection in human-centric autonomous systems.

In Moving Autonomy Forward Conference, Grantham, UK.

Charles Lesire (2006),

Estimation numérico-symbolique pour le suivi d'activités hybrides.

Ph.D. thesis, University of Toulouse.


2005

Frédéric Dehais, Alexandre Goudou, Charles Lesire, and Catherine Tessier (2005),

Towards an anticipatory agent to help pilots.

In AAAI Fall Symposium "From reactive to anticipatory cognitive embodied systems", Arlington, VA, USA.

Charles Lesire and Catherine Tessier (2005),

Particle Petri nets for aircraft procedure monitoring under uncertainty.

In International Conference on Application and Theory of Petri Nets and Other Models of Concurrency (ATPN), Miami, FL, USA.

Charles Lesire and Catherine Tessier (2005),

Réseaux de Petri particulaires pour l'estimation symbolico-numérique.

In Journées Formalisation des Activités Concurrentes (FAC), Toulouse, France.


2004

Charles Lesire (2004),

A numerical/symbolic estimator for activity tracking: a preliminary report.

In International Conference on Knowledge Representation and Reasoning (KR), Doctoral Consortium, Whistler, BC, Canada.

Frédéric Dehais, Charles Lesire, Catherine Tessier, and Laurent Chaudron (2004),

Conflits et contre-mesures dans l’activité de pilotage.

In Congrès Francophone de Reconnaissance des Formes et

d'Intelligence Artificielle (RFIA)
, Toulouse, France.

Charles Lesire (2004),

Suivi de l'activité de pilotage par prédiction et recalage.

Journal Information, Savoirs, Décisions, Médiations (ISDM), 13.


2003

Charles Lesire (2003),

Suivi de l’activité de pilotage par prédiction et recalage.

In Manifestation des Jeunes Chercheurs en Sciences et Techniques de l'Information et de la Communication (MaJeCSTIC), Marseille, France.

Charles Lesire (2003),

Suivi de l'activité de pilotage par prédiction et recalage.

Master thesis, ENAC, The French Civil Aviation University, Toulouse, France.