Publications de Pierre-André Mudry

Method and system for generating a three-dimensional model based on spherical photogrammetry

Pierre-André Mudry, Frédéric Kaplan, Nils Hamel, Albane Bénédicte Descombes

A computer-implemented method is proposed for creating a three-dimensional model of the environment. The method comprises the steps of planning (105) a trajectory for a moving system carrying an omnidirectional camera comprising a first image sensor facing ...

2021

Roombots-Towards Decentralized Reconfiguration with Self-Reconfiguring Modular Robotic Metamodules

Auke Ijspeert, Pierre-André Mudry, Rico Möckel, Philippe Laprade, Alexander Spröwitz, Mikaël Mayer, Stéphane Bonardi

This paper presents our work towards a decentralized reconfiguration strategy for self-reconfiguring modular robots, assembling furniture-like structures from Roombots metamodules. We explore how reconfiguration by locomotion from a configuration A to a co ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2010

A hardware-software codesign framework for cellular computing

Pierre-André Mudry

Until recently, the ever-increasing demand of computing power has been met on one hand by increasing the operating frequency of processors and on the other hand by designing architectures capable of exploiting parallelism at the instruction level through h ...

EPFL2009

Self-Scaling Stream Processing: a Bio-Inspired Approach to Resource Allocation through Dynamic Task Replication

Pierre-André Mudry, Julien Ruffin

In this article, we show how the use of a bio-inspired dynamic task replication algorithm, in the context of stream processing, can be used to significantly improve the performance of embedded programs. We also show that this programming methodology, which ...

Ieee Computer Soc Press, Customer Service Center, Po Box 3014, 10662 Los Vaqueros Circle, Los Alamitos, Ca 90720-1264 Usa2009

Gaming controllers for research robots: controlling a humanoid robot using a WIIMOTE

Pierre-André Mudry

In this article we describe the use of a standard game console joystick, namely the Nintendo Wiimote, for controlling a HOAP-2 humanoid robot. We give a short overview on the use of tangible user interfaces, followed by the description of the used game con ...

2008

A hardware-software design framework for distributed cellular computing

Pierre-André Mudry, Michel Ganguin, Julien Ruffin

In this article, we describe a novel hardware-software design framework for prototyping cellular architectures in hardware. Based on an extensible platform of about 200 FPGAs, configured as a networked structure of processors, the hardware part of this com ...

2008

On the influence of symbols and myths in the responsibility ascription problem in roboethics - A roboticist’s perspective

Aude Billard, Pierre-André Mudry, Sarah Dégallier Rochat

Because of the increasing developments of humanoid robots, humans and robots are going to interact more and more often in the near future. Thus, the need for a well-defined ethical framework in which these interactions will take place is very acute. In thi ...

2008

Self-replicating hardware for reliability: The embryonics project

Daniel Mange, Pierre-André Mudry, Joël Rossier

The multicellular structure of biological organisms and the interpretation in each of their cells of a chemical program (the DNA string or genome) is the source of inspiration for the Embryonics (embryonic electronics) project, whose final objective is the ...

2007

CONFETTI : A reconfigurable hardware platform for prototyping cellular architectures

Daniel Mange, Pierre-André Mudry, Fabien Vannel

In this article, we describe a novel hardware platform aimed at the realization of cellular architectures. The system is built hierarchically from a very simple computing unit, called ECell. Several of these units can then be connected, using a high-speed ...

2007

Self-replication for reliability: bio-inspired hardware and the embryonics project

Daniel Mange, Pierre-André Mudry, Joël Rossier

The growth and operation of all living beings are directed by the interpretation, in each of their cells, of a chemical program, the DNA string or genome. This process is the source of inspiration for the Embryonics (embryonic electronics) project, whose f ...

2006

Hardware/Software Coevolution of Genome Programs and Cellular Processors

Pierre-André Mudry, Guillaume Zufferey

The application of evolutionary techniques to the design of custom processing elements bears a strong relation to the natural process that led to the co-evolution of cells and genomes in biological organisms. As such, it is an interesting avenue for an eff ...

2006

A hybrid genetic algorithm for constrained hardware- software partitioning

Pierre-André Mudry, Guillaume Zufferey

In this article, we propose a novel partitioning method for hardware-software codesign based on a genetic algorithm that has been enhanced for this specific task. Given a high- level program and an area constraint, our software considers different granular ...

2006

A Dynamically Constrained Genetic Algorithm For Hardware-software Partitioning

Pierre-André Mudry, Guillaume Zufferey

In this article, we describe the application of an enhanced genetic algorithm to the problem of hardware-software codesign. Starting from a source code written in a high-level language our algorithm determines, using a dynamically-weighted fitness function ...

Association for Computing Machinery2006

MOVE Processors That Self-replicate and Differentiate

Yann Thoma, Pierre-André Mudry, Joël Rossier

This article describes an implementation of a basic multiprocessor system that exhibits replication and differentiation abilities on the POEtic tissue, a programmable hardware designed for bio-inspired applications. As for a living organism, whose existenc ...

2006

A Move processor for bio-inspired systems

Ralph Hoffmann, Pierre-André Mudry

2005