Home Team members Léonard Jaillet

Léonard Jaillet

 

Contact Information

 

Address:

NANO-D
Centre de recherche Inria Grenoble – Rhône-Alpes
Antenne Inria GIANT
Bâtiment 50 C, 1er étage
Minatec Campus
17, rue des Martyrs
38 054 Grenoble Cedex

Email: leonard.jailletinria.fr

New: my 3 representative publications
 (for 2019 Inria CRCN competition):

1. L. Jaillet, S. Artemova and S. Redon. IM-UFF: extending the Universal Force Field for interactive molecular modeling. Journal of Molecular Graphics and Modelling, 77: 350-362, 2017. Link
2. L. Jaillet and J. M. Porta. Path planning under kinematic constraints by rapidly exploring manifolds. IEEE
Transactions on Robotics, 29(1), 105-117, 2013. Link
3. L. Jaillet, J. Cortés, and T. Siméon. Sampling-based path planning on configuration-space costmaps.
IEEE Transactions on Robotics, 26(4), 635-646, 2010. Link

Short Bio

Léonard Jaillet graduated in 2001 from the mechanical engineering school Supmeca in Paris and received a Master Science degree from the Grenoble Institute of Technology in 2002. He received his Ph.D. degree in Robotics from the University of Toulouse in 2005. From 2006 to 2008, he has been working with Thierry Siméon and Juan Cortés as postdoc at the Robotics and Interactions group of LAAS-CNRS. From 2008 to 2012 he was postdoctoral fellow at the Institut de Robòtica i Informàtica Industrial, in Barcelona, in interaction with Josep Maria Porta. His research interests were including motion planning for complex systems and molecular simulations for structural bioinformatics. Since March 2013 he is working with the NANO-D team, developing new simulation tools for nano-systems inspired by motion planning approaches.

Publications

Journal papers

  • L. Jaillet and J. M. Porta. “Efficient Asymptotically-optimal Path Planning on Manifolds”. Robotics and Autonomous Systems. Robotics and Autonomous Systems. To appear.

 

  • L. Jaillet and J. M. Porta. “Path planning under kinematic constraints by rapidly exploring manifolds”. IEEE Transactions on Robotics. Link.

 

  • J. M. Porta and L. Jaillet. “Exploring the energy landscapes of flexible molecular loops using higher-dimensional continuation”. Journal of Computational Chemistry, 2013,; 34(3):234-44. Link

 

  • J. M. Porta, L. Jaillet, and O. Bohigas. “Randomized path planning on manifolds based on higher-dimensional continuation”. The International Journal of Robotics Research, 31(2):201–215, 2012. Link

 

  • L. Jaillet, F. J. Corcho, J.-J. Pérez, and J. Cortés. “A randomized tree construction algorithm to explore energy landscapes”. Journal of Computational Chemistry, 32(16):3464–3474, 2011.

 

  • L. Jaillet, J. Cortés, and T. Siméon. “Sampling-based path planning on configuration-space costmaps”. IEEE Transactions on Robotics, 26(4):635–646, 2010.

 

  • L. Jaillet and T. Siméon. “Path deformation roadmaps: Compact Graphs with Useful Cycles for Motion Planning”. The International Journal of Robotics Research, 27(11-12):1175–1188, 2008.

 

  • J. Cortés, L. Jaillet, and T. Siméon. “Disassembly path planning for complex articulated objects”. IEEE Transactions on Robotics, 24(2):475–481, 2008.

 

Conference Articles

  • L. Ros, J.M. Porta, O. Bojigas, M.Manubens, C. Rosales and L. Jaillet. “An Open-Source Toolbox for Motion Analysis of Closed-chain Mechanisms”. 6th International Workshop on Computational Kinematics, 2013

 

  • L. Jaillet and J. M. Porta. “Asymptotically-optimal path planning on manifolds”. In Robotics: Science and Systems, 2012.

 

  • L. Jaillet, J. Hoffman, J. van den berg, P. Abbeel, J. M. Porta, and K. Goldberg. “EG-RRT: Environment-guided random trees for kinodynamic motion planning with uncertainty and obstacles”. In Proceedings of the IEEE International Conference on Robots and Systems, pages 2646–2652, 2012.

 

  • L. Jaillet and J. M. Porta. “Path planning with loop closure constraints using an atlas-based RRT”. International Symposium on Robotics Research, 2011.

 

  • J. Mainprice, A. Sisbot, L. Jaillet, J. Cortés, R. Alami, and T. Siméon. “Planning human-aware motions using a sampling-based costmap planner”. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 5012-5017, 2011.

 

  • J. M. Porta and L. Jaillet. “Path planning on manifolds using randomized higher-dimensional continuation”. Ninth International Workshop on the Algorithmic Foundations of Robotics, pages 337–353, 2010.

 

  • L. Jaillet, J. Cortés and T. Siméon. “Transition-based RRT for Path Planning in Continuous Cost Spaces”. In Proceedings of the IEEE International Conference on Robots and Systems, 2008, pages 2145-2130.

 

  • L. Jaillet, J. Cortés and T. Siméon. “Transition-based RRT for Path Planning in Continuous Cost Spaces”. AAAI Workshop on Search Techniques in Artificial Intelligence and Robotics, 2008.

 

  • J. Cortés, L. Jaillet, and T. Siméon. “Molecular disassembly with RRT-like algorithms”. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 3301–3306, 2007.

 

  • L. Jaillet and T. Siméon. “Path Deformation Roadmaps”. Seventh International Workshop on the Algorithmic Foundations of Robotics, 2006.

 

  • L. Jaillet, A. Yershova, S. M. LaValle, and T. Siméon. “Adaptive tuning of the sampling domain for dynamic-domain RRTs”. In Proceedings of the IEEE International Conference on Robots and Systems, pages 2851–2856, 2005.

 

  • J. van den Berg, D. Neuwenhuisen, L. Jaillet, and M.H. Overmars. “Creating robust roadmaps for motion planning in changing environments”. In Proceedings of the IEEE International Conference on Robots and Systems, pages 1053–1059, 2005.

 

  • A. Yershova, L. Jaillet, T. Siméon, and S. M. LaValle. “Dynamic-domain RRTs: Efficient exploration by controlling the sampling domain”. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 3856–3861, 2005.

 

  • L. Jaillet and T. Siméon. “A PRM-based motion planner for dynamically changing environments”. In Proceedings of the IEEE International Conference on Robots and Systems, 2, pages 1606–1611, 2004.

 

  • L. Jaillet. “Planification de Mouvement dans des Scènes Dynamiques”. 5ème Congrès des Doctorants EDSYS (EDSYS’04), 2004.

 

  • R. Chatila, R.Alami, T. Siméon, J. Pettre and L. Jaillet. “Safe, Reliable and Friendly Interaction between Humans and Humanoids”. 3rd IARP International Workshop on Humanoid and Human Friendly Robotics,2002.

 

Posters

  • L. Jaillet and J. Cortés “Exploring Energy Conformational Energy Landscapes with Transition-based RRT. Poster at the Ninth International Workshop on algorithmic Foundations of Robotics (WAFR), 2010, Singapore.

 

  • L. Jaillet and J. Cortés. “Transition-based RRT for Exploring the Energy Landscape of Biomolecules”. Poster at the Motion Planning Workshop of Robotics, Science and Systems, 2010.

PhD Thesis

  • Jaillet. “Méthodes probabilistes pour la planifcation réactive de mouvements”. Paul Sabatier University, 2005. Link

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