Patents / Softwares

A French patent has been submitted to the National Industrial Property Institute (INPI) on March 30, 2015 (nº 1552 689).

Title of the patent: Wavelength multiplexed free space optical communication device for mobile systems.
Inventors (alphabetical order): Hani AL HAJJAR, Frédéric LAMARQUE, Christine PRELLE, Jérémy TERRIEN, Andreas ZEINERT.

The invention proposes a wavelength multiplexed free space optical communication system that consists of at least one light transmitter and one light receiver. The system includes light multiplexing and light demultiplexing techniques at transmitter and receiver, respectively. The invention proposes as well an associated process of coding data at physical layer through splitting data on different wavelengths at
transmitter stage and reconstructing data at receiver by decoding the different wavelengths.


FL-AIR (Framework Libre Air) has been developed by the Platform Department at Heudiasyc laboratory; its main goal is to facilitate the integration and testing of our research algorithms. This framework is based on Linux and is compatible with Xenomai (real time feature); it abstracts all communication and real time layers. As a research tool, building a ground station to monitor all UAV’s states is automatic.
Moreover, a simulator based on FL-AIR was also developed for safe testing of UAV programs on a computer before real flights. Thus, all bugs and errors can be detected and resolved. A 3D environment (see figure below) allows us to simulate all embedded sensors
(cameras, LIDARS, etc.)


PACPUS is a multi-platform (Windows, X86-Linux, ARM-Linux) framework written in C++ that aims at helping the development of applications for Intelligent Vehicles and Autonomous Driving. To develop this rapid prototyping tool, we use a component-based architecture that provides modularity and easy block integration. The framework supplies the main following features to the developer: absolute time stamping, clock synchronization mechanism, management of the life cycle of components, logging, efficient data recording, data replay, HMI, etc. PACPUS was used across several academic and industrial research projects like European FP6 CVIS, PAMU in collaboration with a French car manufacturer, GCDC 2016 European challenge, etc. The framework is distributed under the CECILL-C license and others added value components (navigation, localization, observers of the vehicle dynamic, obstacles detection, Local Dynamic Map, perception modules) are available in binary format. More information can be found on