Overall Objectives
Scientific Foundations
Application Domains
New Results
Contracts and Grants with Industry
Other Grants and Activities

Section: Software



Bayabox is a toolbox for developping Bayesian networks applications in java. It supports algorithms for exact inference and parameter learning in directed graphicals models with discrete or continuous Gaussian variables. Bayabox is used in the Transplantelic project (see Sec.  7.1 ).


The Dialhemo project has the objective to develop a remote surveillance and telediagnosis system adapted to renal insufficiency patients treated by hemodialysis. The main objective is to insure people who are treated either at home, or in self-dialysis centers, the same level of security as in hospital. A first software developed in cooperation with Diatelic SA, Gambro and ALTIR is currently experimented in several sites. About 150 patients currently benefit of this first system.


FiatLux is a cellular automata simulator that allows the user to experiment with various models and to perturb them. These perturbations can be of two types. On the one hand, perturbations of dynamics change the type of updating, for example from a deterministic parallel updating to an asynchronous random updating. On the other hand, the user may perturb the topology of the grid by removing links between cells randomly.

FiatLux may be run in an interactive mode with a Graphical User Interface or in a batch mode for longer experiments. The interactive mode is suited for small size universes whereas the batch may be used for experiments involving several thousands of cells. The software uses two external libraries for the random generator and the real-time observations of variables ; it is also fitted with output procedures that writes in Gnuplot, Tex, HTML formats.

In 2009, the software has evolved with the development of a module allowing the simulation of multi-agent systems (two models coded so far, the multi-Turmite model and the DLA).


FPG is a probabilistic planner addressing its problem as a reinforcement learning one. Its principle is to optimise a controller's parameters (such as a neural network whose input is a state and whose output is a decision) using a domain simulator. It relies on the libPG library (see below).

Although the first version was meant to deal with concurrent temporal probabilistic planning, current development effort is focusing on FPG-ipc, the version used for the international planning competition.


LibPG is a high-speed C++ and modular implementation of many popular RL algorithms for MDPs and POMDPs including: Baxter and Bartlett's GPOMDP/OLPOMDP, Jan Peter's Natural Actor-Critic, Various PSR code from Satinder Singh's papers, Online PSRs from McCracken and Bowling, HMM estimation of hidden state from observations, Finite history methods.

It requires the uBlas components of the Boost library. Having Lapack and Atlas will also open up more features.

Smaart simulator

In the framework of the `Smaart' PEA-DGA project ( 8.1.1 ) we developed in collaboration with ENST Brest and CRIL Technology a simulator to study collective intelligence. This tool focuses on the simulation of autonomous AUV (flying robots), sensor networks and digital pheromones processes. This simulator extends the TurtleKit-Madkit Plateform developed in Montpellier 2 University, by introducing multi-layer environments and time control functionalities. We also introduced the OpenGL interface to enhance the graphical capabilities. We plan to generalize this tool to the simulation of any kind of robots and swarm systems.

In 2009 we were contacted by Canada defense for the presentation and the use of the simulator and the pheromone-based algorithms.

Cristal simulator

In the CRISTAL project (from Pole de competitivité Véhicule du Futur), we explore new models for safe platooning of autonomous vehicules, see ( 8.1.3 ). Studying platooning models and identifying global complex behaviors (e.g. non-linear behaviors such as oscillations and amplification of perturbations) can be addressed through the individual-based simulation approach. As no such tool exists for Platooning, we proposed an original real-time and multi-agent simulator mixing the event-based approach and the influence-reaction model. This later ensuring the simulation of simultaneous actions from several autonomous entities. Finally we developed 1D and 2D graphical viewers, and connexions to 3D world viewers.


wifibotlib is a low/mid level library for controling WifiBot robots. This library allow interaction with the Wifibot either on the hardware level (setting motor speed, reading sensors) or on a slighlty more abstract level (advance, turn, stop). This software is available on the INRIA gforge at .


Through various internship and master's project, MaIA has greatly contributed to a low/mid level toolbox for interacting with a fleet of KheperaIII robots. Currently, the developpment of this toolbox benefits greatly from the ADT ROMEA.


mdptetris is a project that gathers our C software related to our works on the game of Tetris. It contains a highly optimized Tetris game simulator and several modules for computing good controllers: exact dynamic programming for a small version of the game, approximate dynamic programming, cross-entropy optimization, CMAES (Covariance Matrix Adaptation Evolution Strategy), UCT (Upper Confidence Tree).


ISeeML is an Integrated Smooth, Efficient and Easy-to-use Motion Library. It offers a simple way to compute continuous-curvature paths for car-like robots, using line segments, circular arcs and pieces of clothoids [51] , [52] : C++ simple constructors are provided for these paths, as well as for more classical paths (i.e. Dubins'paths [47] ).

ISeeML will soon be distributed using GPL licence: it is currently in the process of registration to the APP (French Agency for Programs Protection).


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