Papers
7
Total Citations
128
H-Index
5
About
Pascal Lepinay is a robotics researcher whose career spans nearly three decades of work on autonomous mobile systems, reactive control, and localization — fields that sit at the heart of modern robotics. His early and enduring contribution lies in the development of reactive behavior frameworks for mobile robots operating in unstructured, dynamic environments. His 1994 paper on reactive behaviors of fast mobile robots (33 citations) established foundational software architectures for obstacle avoidance without relying on geometric models, a significant challenge at the time. Lepinay later extended this work to aerial and underwater domains, tackling collision avoidance for 3D flying robots (2003) and torpedo-like autonomous underwater vehicles, demonstrating a versatile command of multi-domain robotics. His most-cited contributions come from his 2009 work on Self-Adaptive Monte Carlo Localization (SAMCL), which introduced a pre-caching technique to dramatically reduce computational load during robot localization — garnering 44 and 18 citations respectively across single- and multi-robot formulations. More recently, he has explored optimized thruster configurations for over-actuated underwater robots (2021). Across his career, Lepinay has consistently bridged theoretical control design and practical autonomous systems, making him a notable contributor to field robotics and autonomous navigation research.
Research Focus
Key Achievements
Top Papers
- 1Self-adaptive Monte Carlo localization for mobile robots using range sensors44 citations · 2009
- 2Reactive behaviors of fast mobile robots33 citations · 1994
- 3Self-adaptive monte carlo for single-robot and multi-robot localization18 citations · 2009
- 4Flying among obstacles18 citations · 2003
- 5
- 6Collision avoidance and bottom following of a torpedo-like AUV4 citations · 2002
- 7Sensor-based control of the reactive behaviors of walking machines4 citations · 2002