L'étalon-or des évaluations randomisées : du discours de la méthode à l'économie politique

La dernière décennie a vu l'émergence d'un nouveau champ de recherche en économie du développement : les méthodes expérimentales d'évaluation d'impacts par assignation aléatoire. Cet article explore le contraste entre d’une part les limites (nombreuses) et la circonscription (très étroite) du champ réel d'application de ces méthodes et d’autre part leur succès, attesté à la fois par leur nombre et leur forte médiatisation. L’analyse suggère que ce contraste est le fruit d’une conjonction économique et politique particulière, émanant de stratégies novatrices de la part des chercheurs de cette nouvelle école, et d’intérêts et de préférences spécifiques provenant à la fois du monde académique et de la communauté des donateurs

Analyse syntaxique du français : des constituants aux dépendances

10 pagesInternational audienceThis paper describes a technique for both constituent and dependency parsing. Parsing proceeds by adding functional labels to the output of a constituent parser trained on the French Treebank in order to further extract typed dependencies. On the one hand we specify on formal and linguistic grounds the nature of the dependencies to output as well as the conversion algorithm from the French Treebank to this dependency representation. On the other hand, we describe a class of algorithms that allows to perform the automatic labeling of the functions from the output of a constituent based parser. We specifically focus on discriminative learning methods for functional labelling

A Decentralized Interactive Architecture for Aerial and Ground Mobile Robots Cooperation

This paper presents a novel decentralized interactive architecture for aerial and ground mobile robots cooperation. The aerial mobile robot is used to provide a global coverage during an area inspection, while the ground mobile robot is used to provide a local coverage of ground features. We include a human-in-the-loop to provide waypoints for the ground mobile robot to progress safely in the inspected area. The aerial mobile robot follows continuously the ground mobile robot in order to always keep it in its coverage view.Comment: Submitted to 2015 International Conference on Control, Automation and Robotics (ICCAR

Vision Based Target Tracking Using An Unmanned Aerial Vehicle

International audience— We present in this paper a backstepping controller for vision based target tracking with an Unmanned Aerial Vehicle. A down facing camera is used with a pose estimation algorithm to extract the position of the target (an Unmanned Ground Vehicle). The output is then fed into the developed controller to generate the necessary movements (pitch and roll) of the Unmanned Aerial Vehicle in order to keep the target in the coverage view of the camera (following it constantly). The developed scheme is used to help the Unmanned Ground Vehicle to navigate among obstacles, and the overall system is designed in order to help human operator to supervise the Aerial and Ground vehicles for area inspection or object transportation in industrial areas (when using multiple Unmanned Ground Vehicles)

Environmental Objects for Authoring Procedural Scenes

International audienceWe propose a novel approach for authoring large scenes with automatic enhancement of objects to create geometric decoration details such as snow cover, icicles, fallen leaves, grass tufts or even trash. We introduce environmental objects that extend an input object geometry with a set of procedural effects that defines how the object reacts to the environment, and by a set of scalar fields that defines the influence of the object over of the environment. The user controls the scene by modifying environmental variables, such as temperature or humidity fields. The scene definition is hierarchical: objects can be grouped and their behaviours can be set at each level of the hierarchy. Our per object definition allows us to optimize and accelerate the effects computation, which also enables us to generate large scenes with many geometric details at a very high level of detail. In our implementation, a complex urban scene of 10 000 m², represented with details of less than 1 cm, can be locally modified and entirely regenerated in a few seconds

Modélisation de terrains par primitives

National audienceNous proposons un modèle de terrain hiérarchique et compact permettant de représenter des scènes complexes. Ce modèle de représentation s'inspire des surfaces implicites à squelettes et définit une fonction d'élévation sous la forme d'un arbre de construction. Les feuilles sont des primitives décrivant des morceaux de terrains à différentes échelles (montagnes, fleuves, ...) et les noeuds internes sont des opérateurs de combinaison. L'élévation d'un point est calculée en traversant la structure d'arbre et en combinant les contributions de chaque primitive. La définition des feuilles et des opérateurs garantit que la fonction d'élévation résultante est Lipschitzienne, ce qui permet d'accélérer les calculs de visualisation en utilisant un algorithme de sphere tracing. Mots Clés : modélisation de terrains, phénomènes naturels, modélisation procédurale, surface implicite We propose a compact hierarchical procedural model that combines feature-based primitives to create complex continuous terrains. Our model is inspired by skeletal implicit surfaces and defines the terrain elevation by using a construction tree whose leaves are primitives describing terrain fragments, and whose inner nodes include operations that combine its sub-trees. The elevation of a point is evaluated by traversing the tree and by combining the contributions of each primitive. The definition of both leaves and operators guarantees that the resulting elevation function is Lipschitz which enables us to speed up sphere tracing and surface adaptive tesselation algorithms