Scientific Free Software

libpointmatcher ✦ 2010–present ✦ c++

libpointmatcher is a modular and fast icp library. We also provide a ros package. I co-developed libpointmatcher with François Pomerleau at asl, it is available under a bsd-new license.

libnabo ✦ 2010–present ✦ c++ or Rust

libnabo is a fast nearset-neighbor–search library for low-dimensional spaces. It is based on the algorithm of ann but with more compact memory structure and therefore faster. I developed Nabo at asl, it is available under a bsd-new license. A pure-Rust version is also available.

Aseba ✦ 2007–present ✦ c++ and Qt4

Aseba is a set of tools which allow beginners to program robots easily and efficiently. For these reasons, Aseba is well-suited for robotic education and research. I developed Aseba as part of my work at Mobots on the Swarmanoid European Project. I further developed it as part of my work at asl. Aseba is available under a LGPL 3 license.

Enki ✦ 1999–present ✦ c++

Enki is an open source robot simulator. It provides collision and limited physics support for robots evolving on a flat surface. Enki is able to simulate groups of robots hundred times faster than real-time. I developed Enki as part of my work at lis on the ECAgents European Project. I further enhanced Enki as part of my work at Mobots and asl.

Planner9 ✦ 2009–2011 ✦ c++

Planner9 is a distributed hierarchical–task-network planner. Planner9 performs parallel search using A* and limits the number of search nodes through lifting. I co-developed Planner9 with Martin Voelkle as part of my work at Mobots on the Swarmanoid European Project.

teer ✦ 2012-2014 ✦ Python

Teer is a task-execution environment for robotics. It is a Python library proposing the use of coroutines to implement executives, as an alternative to state machines. Teer is available under a bsd-new license.

Osqoop ✦ 2005–2006 ✦ c++ and Qt4

Osqoop is an open-source software oscilloscope. It features an arbitrary number of channels, long acquisition durations, and plugin-based data sources and signal-processing algorithms. I developed Osqoop as part of my work at lsn.

Teem ✦ 2004–2005 ✦ c++

Teem is a software framework for evolutionary-robotics experiments. Using a modular approach, it provides several genomes, evolution logics, neural networks topologies and neurons/synapses as well as sample experiments. It seamlessly integrates with the Enki simulator. I designed Teem with Antoine Beyeler and wrote the core. This was part of my work at lis on the ECAgents European Project.