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GENECLASS2 is a software that computes various genetic assignment criteria to assign or exclude reference populations as the origin of diploid or haploid individuals, as well as of groups of individuals, on the basis of multilocus genotype data. In addition to traditional assignment aims, the program allows the specific task of first-generation migrant(More)
In this paper, we propose a novel and coherent framework for fast footstep planning for legged robots on a flat ground with 3-D obstacle avoidance. We use swept volume approximations that are computed offline in order to considerably reduce the time spent in collision checking during the online planning phase, in which a rapidly exploring random tree(More)
—In this paper, we illustrate experimentally an original real-time replanning scheme and architecture for humanoid robot reactive walking. Based on a dense set of actions, our approach uses a large panel of the humanoid robot capabilities and is particularly well suited for 3D collision avoidance. Indeed A* approaches becomes difficult in such situation,(More)
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