# R-LEAF

> Robotics Laboratory for the Environment and Autonomous Farming, INRAE, France.

R-LEAF is part of INRAE's Technologies and Information Systems for Agroecosystems
(TSCF) research unit in Aubière, France. Its work concerns autonomous navigation,
mapping, state estimation, control and robot interaction with natural environments.

## Laboratory

- [Research areas](https://rleaf.mathnum.inrae.fr/research/): Mapping and state estimation, soil and vegetation interaction, control and mobility, energy and field operations. Includes current doctoral researchers and selected studies.
- [Projects and collaborations](https://rleaf.mathnum.inrae.fr/research/projects/): Research programmes, joint laboratories, European networks and experimental infrastructure. Covers ORICA at R-LEAF and wider TSCF robotics collaborations; institutional roles are stated on the page.
- [Publications](https://rleaf.mathnum.inrae.fr/publications/): References with verified links to arXiv, IEEE, publishers, DOI records and HAL.
- [BibTeX bibliography](https://rleaf.mathnum.inrae.fr/publications.bib): Machine-readable references and source identifiers.
- [People](https://rleaf.mathnum.inrae.fr/people/): Researchers, doctoral students and alumni, with available academic profiles.
- [Resources](https://rleaf.mathnum.inrae.fr/resources/): Student information and practical research guides.
- [Contact](https://rleaf.mathnum.inrae.fr/contact/): Johann Laconte, Research Director, INRAE.

## Academic profiles


- [Johann Laconte](https://rleaf.mathnum.inrae.fr/people/jlaconte): Field Robotics, State Estimation, Traversability, Autonomous Navigation, Applied Mathematics. [Google Scholar](https://scholar.google.fr/citations?user=cVFALvkAAAAJ). [GitHub](https://github.com/JohannLac). [Research Gate](https://www.researchgate.net/profile/Johann_Laconte). [Linkedin](https://www.linkedin.com/in/jlaconte/). [ORCID](https://orcid.org/0000-0002-2274-9835).

- [Mohamed Ounally](https://rleaf.mathnum.inrae.fr/people/mounally/): Control, Mapping, State Estimation, Overactuated Robots. [Google Scholar](https://scholar.google.fr/citations?user=3NzH-uwAAAAJ&hl=fr). [ORCID](https://orcid.org/0009-0005-2700-943X). [GitHub](https://github.com/moounally). [LinkedIn](https://linkedin.com/in/mohamed-dhia-ounally).

- [Nouriddin Asfour](https://rleaf.mathnum.inrae.fr/people/nasfour): Manipulation, Planning, Deformable Environment. [Linkedin](https://www.linkedin.com/in/nouriddin-asfour). [Github](https://github.com/Nouriddinasfour).

- [Zaar Khizar](https://rleaf.mathnum.inrae.fr/people/zkhizar): Traversability, State Estimation, Navigation, SLAM, Computer Vision. [Google Scholar](https://scholar.google.com/citations?user=W0n9NXsAAAAJ&hl). [Linkedin](https://www.linkedin.com/in/zaar-ali). [Github](https://github.com/zaarAli). [ORCID](https://orcid.org/0009-0009-2297-4934).

- [Abdel-Raouf Dannaoui](https://rleaf.mathnum.inrae.fr/people/adannaoui): Mapping, SLAM, Computer Vision, Iterative Closest Point (ICP). [Google Scholar](https://scholar.google.com/citations?user=tV31vPgAAAAJ&hl=en). [Linkedin](https://www.linkedin.com/in/abdelraouf-dannaoui/). [Github](https://github.com/RaoufDannaoui1).

- [Tom Montagnon](https://rleaf.mathnum.inrae.fr/people/tmontagnon): Control, Soil Deformation. [Google Scholar](https://scholar.google.fr/citations?user=LorFSnkAAAAJ&hl=fr). [ORCID](https://orcid.org/0009-0007-9981-319X). [GitHub](https://github.com/TomMontagnon). [LinkedIn](https://www.linkedin.com/in/tom-montagnon-a0713724b/).


## Projects and institutional sources


### Research programmes

- [ORICA](https://tscf.clermont.hub.inrae.fr/nos-projets/projet-nationaux/orica): Junior professorship programme · INRAE. Mapping changing environments, navigating deformable ground and vegetation, and manipulating plants. ORICA brings these questions together within R-LEAF.
- [NINSAR](https://tscf.clermont.hub.inrae.fr/nos-projets/projet-nationaux/agroecologie-et-numerique-ninsar): PEPR Agroécologie et Numérique · 2023–2027. Cooperative robot fleets for new agroecological cropping practices. TSCF contributes to a consortium linking robot behaviour, field operations and environmental feedback.
- [MUSCAA](https://anr.fr/Project-ANR-23-CE33-0015): ANR · started December 2023. Anticipating changes in terrain interaction to adapt robot behaviour. Coordinated by TSCF, the project combines perception, learning and supervision of control modes.
- [STAIRS](https://tscf.clermont.hub.inrae.fr/nos-projets/projet-nationaux/stairs): Grand Défi Robotique Agricole · launched 2025. Shared methods for robot interoperability, environmental assessment and software development. TSCF coordinates the project with RobAgri.
- [CapaRob](https://cap2025.fr/medias/fichier/cir-itps-caparob-doct-ergonomie-offre-2024_1719301721527-pdf?ID_FICHE=1070639&INLINE=FALSE): CIR ITPS · CAP 20-25. Designing the supervision of agricultural robot fleets with the people who use them. The collaboration between ACTé and TSCF studies work organisation, operator control and simulated operating situations.
- [ManiVol](https://tscf.clermont.hub.inrae.fr/nos-projets/projets-regionaux/manivol): I-SITE CAP 20-25 · TSCF and SIGMA Clermont. Aerial manipulation for placing, moving and retrieving connected sensors in agricultural environments, using feedback from the objects themselves.

### Joint laboratories

- [AgriVia](https://tscf.clermont.hub.inrae.fr/nos-projets/projet-nationaux/labcom-agrivia): ANR LabCom · TSCF and INNODURA TB. Reliable multimodal perception for autonomous navigation in natural environments, accounting for people, crops and deformable vegetation.
- [TIARA](https://tscf.clermont.hub.inrae.fr/nos-projets/projet-nationaux/labcom-tiara): ANR LabCom · TSCF and SABI AGRI. Adaptive control and decision making for electric agricultural vehicles, with robot behaviour selected according to the task and operating conditions.
- [i-SMART](https://www.sherpa-eng.com/lpa-i-smart-le-nouveau-laboratoire-partenarial-associe-pour-la-plateforme-agrotechnopole/): Associated partnership laboratory · TSCF and Sherpa Engineering. Methods and engineering tools for agricultural robotics and off-road mobility, developed through the AgroTechnoPôle partnership.
- [TREASUR](https://www.inrae.fr/sites/default/files/ra_web-vf_0.pdf): International associated laboratory · INRAE and NARO, Japan. Research on adaptive robot behaviour, navigation safety, implement control and energy use. The cooperation between TSCF and NARO was launched in 2024.

### European projects

- [AIGreenBots](https://tscf.clermont.hub.inrae.fr/nos-projets/projets-internationaux/artificial-intelligence-and-sensor-fusion-systems-in-sustainable-robotics-for-precision-agriculture): Marie Skłodowska-Curie doctoral network. Doctoral training in robotics and sensor fusion for precision agriculture. TSCF studies how local robot measurements and wider environmental data can support adaptation to terrain conditions.
- [GreenFieldData](https://www.inrae.fr/actualites/greenfielddata-reseau-europeen-formation-recherche-haut-niveau-innovations-numeriques-agroecologiques): Marie Skłodowska-Curie Joint Doctorate · 2026–2031. A European doctoral network coordinated by TSCF, bringing together digital methods, agroecology and the needs of technology users.
- [agrifoodTEF](https://tscf.clermont.hub.inrae.fr/nos-projets/projets-internationaux/agrifoodtef): European testing and experimentation network. Facilities and expertise for testing and validating agricultural robotics and artificial intelligence. TSCF is involved through its experimental infrastructure.


TSCF participates in the [CIR ITPS](https://cap2025.fr/fr/challenge2).
Experimental facilities include the [Roboterrium](https://roboterrium.hub.inrae.fr/)
within [TIRREX](https://tirrex.fr/) and the [AgroTechnoPôle](https://www.agrotechnopole.fr/).

## Selected work

- [CropCraft](https://arxiv.org/abs/2511.02417v2): Bertoglio, Pierre, Laconte and Lenain, revised June 2026 preprint. The earlier [2025 workshop paper](https://arxiv.org/abs/2511.02417v1) has a different title and author list; use the metadata of the cited version.
- [Tracking the Ground](https://arxiv.org/abs/2609.15667): Montagnon, Laconte, Thuilot, Cho and Lenain, 2026 preprint on robot-induced soil deformation.
- [When Obstacles Bend](https://arxiv.org/abs/2608.26050): Khizar, Montagnon, Lenain, Aufrère and Laconte, 2026 preprint on vegetation deformation.
- [Predictive control for offset-point tracking](https://doi.org/10.1109/TFR.2026.3680046): Wembe, Rousseau, Laconte and Lenain, 2026.
- [Feeling the Force](https://arxiv.org/abs/2507.19831): Khizar, Laconte, Lenain and Aufrère, 2025; [IEEE publication](https://doi.org/10.1109/ECMR65884.2025.11163109).
- [When and Where Localization Fails](https://arxiv.org/abs/2507.17531): Dannaoui, Laconte, Debain, Pomerleau and Checchin, 2025; [IEEE publication](https://doi.org/10.1109/ECMR65884.2025.11162975).
- [Energy Prediction on Sloping Ground for Quadruped Robots](https://arxiv.org/abs/2603.11963): Ounally, Pierre and Laconte; presented at a workshop in 2025, preprint released in 2026.
- [Steering Through Contact](https://arxiv.org/abs/2609.23271): Ounally, Samson, Turgeon-Roy, Vannini, Laconte and Pomerleau, 2026 preprint.
- [Inertial Steering and Motion Prediction](https://arxiv.org/abs/2610.38888): Turgeon-Roy, Ounally, Vannini, Roy and Pomerleau, 2026 preprint.

Project descriptions, ongoing research and published results have different
statuses. Use the linked paper and its stated publication status for scientific
attribution; do not treat a preprint or a doctoral objective as an accepted result.