Le titre

Justin Cano

Research in progress...

Short biography

Justin Cano, born in 1994, is currently a Ph.D. Student co-advised between Polytechnique Montréal (QC, Canada) and ISAE-Supaéro (Toulouse, France). Advised by Prof. Jérôme Le Ny, he is with Canadian research groups GERAD (Group for Research in Decision Analysis) and MRASL (Mobile Robotics and Autonomous Systems Laboratory, EE department, Polytechnique). For the French part of his Ph.D, he is co-advised by Prof. Éric Chaumette and Gaël Pagès, he works for the DEOS (Department of Optronics, Electronics and Signal processing, NAVIR²ES research team) and is with doctoral school MITT (Maths, Computer Eng. and Telecommunication of Toulouse) of the Toulouse Federal University.
He completed a Master of Science degree at Polytechnique Montreal, advised by Prof. Le Ny, in 2019 and his dissertation was nominated to the excellence prize at Poly. Between 2014 and 2016 he studied Computer Science and Automation at the Engineering School of Centrale Marseille, France and received the Master of Engineering in 2019, achieving his double degree.

Research interests

  • Navigation systems;
  • Embedded systems;
  • Multi-robot systems, cooperative robotics, sensor networks;
  • Positioning systems and especially Ultra-Wide Band;
  • Motion planning;
  • Performance Bounds and localizability optimization;
  • Control engineering

My work is essentially on the automated deployment of robot swarms using Kalman Filters, sensor fusion and distributed architecture. Localization aided by Ultra-Wide Band (UWB) technology and synchronization issues are also involved in my research. Motion planning is important in swarm deployment due to the dependency between localization accuracy and networks topology. I am also interested in the integration and development of ROS (Robot Operative Systems) code features to localize and schedule motion of robots.

Teaching activities

As teaching assistant

  • Applied Maths and Control Practices  graduate courses for aerospace engineering master students at ISAE-Supaéro, respectively with the teams of Profs. Judith Vancostenoble and Yves Brière.
  • Signal Processing  Practices and Laboratories (2022-now) first year undergrad course at ISAE-Supaero, part of the team lead by Profs. Jordi Vila-Valls, François Vincent and Éric Chaumette.
  • Linear control - Automatique : Practical cases/ laboratory instructor (2021-now) a second year course at ISAE-Supaero France, I am with the teaching team of Pr. Caroline Bérard.
  • Active circuits - ELE2611: Corrector and Jury (2017-2021) a second year course for Electrical Engineering undergraduates at Polytechnique Montréal, I am with the teaching team lead by Prof. Jérôme Le Ny.
  • Linear SISO control - ELE3201 : Laboratory instructor and corrector (2017-2021) a third year fundamental course for Electrical Engineering undergraduates at Polytechnique Montréal, I belong to the teaching team lead by Prof. Roland Malhamé.

As research internship co-supervisor

  • 2021-22 : Matthieu Borelle, from INP Grenoble, France, co-advised with Jérôme Le Ny, Internship topic : optimal trajectory computation for an UGV through dynamics programming in terms of positioning;
  • 2021 : Malo Ruaudel, undergraduate student from Polytechnique Montréal, Canada, EE department, co-advised with Roland Malhamé, Internship topic : conception of an embedded chess board using dynamic programming and adversarial AI scheme (3rd year EE final project);
  • 2020-21 : Dean Pretorius, from Stellenbosch University, South Africa, co-advised with Jérôme Le Ny, Internship topic : enhance the localization of a ground robot through model predictive control.

Publications

Regular papers

  1. J. Cano and J. L. Ny, “Ranging-Based Localizability-Constrained Deployment of Mobile Robotic Networks,” arXiv:2202.00756 [cs], Feb. 2022. Available: http://arxiv.org/abs/2202.00756
  2. J. Cano, G. Pages, E. Chaumette, and J. Le Ny, “Clock and Power-Induced Bias Correction for UWB Time-of-Flight Measurements,” IEEE Robotics and Automation Letters, pp. 1–1, 2022, doi: 10.1109/LRA.2022.3143202.
    Preprint available here
    .

Peer reviewed international conference papers 

  1. J. Cano, C. Chauffaut, G. Pages, E. Chaumette, et J. LE NY, « Maintaining Robot Localizability With Bayesian Cramér-Rao Lower Bounds », in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, oct. 2022.
    Preprint available here.

  2. J. Cano, G. Pagès, E. Chaumette, et J. LE NY, « Optimal Localizability Criterion for Positionning with DIstance-Deteriorated Relative Measurements », in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, oct. 2022.
    Preprint available here.

  3. J. Cano and J. Le Ny, “Improving Ranging-Based Location Estimation with Rigidity-Constrained CRLB-Based Motion Planning,” in 2021 IEEE International Conference on Robotics and Automation (ICRA), May 2021, pp. 5758–5764. doi: 10.1109/ICRA48506.2021.9560750.
    Preprint available here.

  4. J. Cano, S. Chidami, and J. L. Ny, “A Kalman Filter-Based Algorithm for Simultaneous Time Synchronization and Localization in UWB Networks,” in 2019 International Conference on Robotics and Automation (ICRA), May 2019, pp. 1431–1437. doi: 10.1109/ICRA.2019.8794180.
    Preprint available here.

Dissertations

  1. J. Cano, « Synchronisation et positionnement simultanés d’un réseau ultra-large bande et applications en robotique mobile », Master’s Thesis, Polytechnique Montréal, Montreal, QC, Canada, 2019. Available on Polypublie site.
Site de J.Cano