<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-03935200</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-23T11:13:07+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="fr">Planification robuste pour la collaboration homme-robot</title>
            <author role="aut">
              <persName>
                <forename type="first">Yang</forename>
                <surname>You</surname>
              </persName>
              <email type="md5">f99c5a4577861c3b7021669099523870</email>
              <email type="domain">inria.fr</email>
              <idno type="idhal" notation="numeric">1115716</idno>
              <idno type="halauthorid" notation="string">2531657-1115716</idno>
              <affiliation ref="#struct-415996"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Vincent</forename>
                <surname>Thomas</surname>
              </persName>
              <email type="md5">36ab4db1c00a7ff6a3aa39d443eefade</email>
              <email type="domain">loria.fr</email>
              <idno type="idhal" notation="string">vincent-thomas</idno>
              <idno type="idhal" notation="numeric">16368</idno>
              <idno type="halauthorid" notation="string">111540-16368</idno>
              <idno type="ORCID">https://orcid.org/0000-0003-3401-4649</idno>
              <affiliation ref="#struct-415996"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Rachid</forename>
                <surname>Alami</surname>
              </persName>
              <email type="md5">4cde8f071c9957070778ee49ded0bf35</email>
              <email type="domain">laas.fr</email>
              <idno type="idhal" notation="string">rachid-alami</idno>
              <idno type="idhal" notation="numeric">3186</idno>
              <idno type="halauthorid" notation="string">22730-3186</idno>
              <idno type="IDREF">https://www.idref.fr/059057343</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-9558-8163</idno>
              <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=lda-c1UAAAAJ&amp;hl=fr</idno>
              <affiliation ref="#struct-392741"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Francis</forename>
                <surname>Colas</surname>
              </persName>
              <email type="md5">152a6f05a7ee0f62620e489d0cffdc5a</email>
              <email type="domain">inria.fr</email>
              <idno type="idhal" notation="string">francis-colas</idno>
              <idno type="idhal" notation="numeric">10037</idno>
              <idno type="halauthorid" notation="string">1663-10037</idno>
              <idno type="IDREF">https://www.idref.fr/112906206</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-7449-7676</idno>
              <affiliation ref="#struct-415996"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Olivier</forename>
                <surname>Buffet</surname>
              </persName>
              <email type="md5">aa57b718d11e58203d4dcbbfd06d471b</email>
              <email type="domain">loria.fr</email>
              <idno type="idhal" notation="string">olivier-buffet</idno>
              <idno type="idhal" notation="numeric">1407</idno>
              <idno type="halauthorid" notation="string">19343-1407</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-5072-5857</idno>
              <affiliation ref="#struct-415996"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Olivier</forename>
                <surname>Buffet</surname>
              </persName>
              <email type="md5">aa57b718d11e58203d4dcbbfd06d471b</email>
              <email type="domain">loria.fr</email>
            </editor>
            <funder ref="#projanr-48600"/>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2023-01-11 16:14:47</date>
              <date type="whenModified">2025-11-04 12:02:01</date>
              <date type="whenReleased">2023-01-11 16:31:56</date>
              <date type="whenProduced">2022-06-30</date>
              <date type="whenEndEmbargoed">2023-01-11</date>
              <ref type="file" target="https://inria.hal.science/hal-03935200v1/document">
                <date notBefore="2023-01-11"/>
              </ref>
              <ref type="file" subtype="author" n="1" target="https://inria.hal.science/hal-03935200v1/file/article.pdf" id="file-3935200-3438633">
                <date notBefore="2023-01-11"/>
              </ref>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="103770">
                <persName>
                  <forename>Olivier</forename>
                  <surname>Buffet</surname>
                </persName>
                <email type="md5">aa57b718d11e58203d4dcbbfd06d471b</email>
                <email type="domain">loria.fr</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-03935200</idno>
            <idno type="halUri">https://inria.hal.science/hal-03935200</idno>
            <idno type="halBibtex">you:hal-03935200</idno>
            <idno type="halRefHtml">&lt;i&gt;Journées Francophones Planification, Décision et Apprentissage (JFPDA)&lt;/i&gt;, François Schwarzentruber, Jun 2022, Saint Etienne (FR), France</idno>
            <idno type="halRef">Journées Francophones Planification, Décision et Apprentissage (JFPDA), François Schwarzentruber, Jun 2022, Saint Etienne (FR), France</idno>
            <availability status="restricted">
              <licence target="https://about.hal.science/hal-authorisation-v1/">HAL Authorization<ref corresp="#file-3935200-3438633"/></licence>
            </availability>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="UNIV-TLSE2">Université Toulouse 2</idno>
            <idno type="stamp" n="UNIV-TLSE3">Université de Toulouse</idno>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="INRIA">INRIA - Institut National de Recherche en Informatique et en Automatique</idno>
            <idno type="stamp" n="INSA-TOULOUSE">Institut National des Sciences Appliquées de Toulouse</idno>
            <idno type="stamp" n="LAAS">Laboratoire d'analyse et d'architecture des systèmes</idno>
            <idno type="stamp" n="INRIA_TEST">INRIA - Institut National de Recherche en Informatique et en Automatique</idno>
            <idno type="stamp" n="LORIA2">Publications du LORIA</idno>
            <idno type="stamp" n="INRIA-NANCY-GRAND-EST">INRIA Nancy - Grand Est</idno>
            <idno type="stamp" n="TESTALAIN1">TESTALAIN1</idno>
            <idno type="stamp" n="UT1-CAPITOLE">Université Toulouse 1 Capitole</idno>
            <idno type="stamp" n="LAAS-RIS" corresp="LAAS-ROBOTIQUE">Équipe Robotique et InteractionS</idno>
            <idno type="stamp" n="CENTRALESUPELEC">Ecole CentraleSupélec</idno>
            <idno type="stamp" n="LAAS-ROBOTIQUE" corresp="LAAS">LAAS-Robotique</idno>
            <idno type="stamp" n="UNIV-LORRAINE">Université de Lorraine</idno>
            <idno type="stamp" n="INRIA2">INRIA 2</idno>
            <idno type="stamp" n="LORIA">Laboratoire Lorrain de Recherche en Informatique et ses Applications</idno>
            <idno type="stamp" n="LORIA-AIS" corresp="LORIA">Department of Complex Systems, Artificial Intelligence  &amp; Robotics</idno>
            <idno type="stamp" n="INSA-GROUPE">Groupe INSA</idno>
            <idno type="stamp" n="ANR">ANR</idno>
            <idno type="stamp" n="TOULOUSE-INP">Toulouse - INP</idno>
            <idno type="stamp" n="UNIV-UT3">Université Toulouse 3</idno>
            <idno type="stamp" n="UT3-INP">Université de Toulouse / Toulouse INP</idno>
            <idno type="stamp" n="UT3-TOULOUSEINP">Université de Toulouse / Toulouse INP</idno>
            <idno type="stamp" n="TEST7-HALCNRS">test 7 du portail hal cnrs</idno>
            <idno type="stamp" n="AM2I-UL">Pôle scientifique Automatique, Mathématiques, Informatique et leurs Intéractions de l'Université de Lorraine</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="3">National</note>
            <note type="invited" n="0">No</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
            <note type="proceedings" n="1">Yes</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="fr">Planification robuste pour la collaboration homme-robot</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Yang</forename>
                    <surname>You</surname>
                  </persName>
                  <email type="md5">f99c5a4577861c3b7021669099523870</email>
                  <email type="domain">inria.fr</email>
                  <idno type="idhal" notation="numeric">1115716</idno>
                  <idno type="halauthorid" notation="string">2531657-1115716</idno>
                  <affiliation ref="#struct-415996"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Vincent</forename>
                    <surname>Thomas</surname>
                  </persName>
                  <email type="md5">36ab4db1c00a7ff6a3aa39d443eefade</email>
                  <email type="domain">loria.fr</email>
                  <idno type="idhal" notation="string">vincent-thomas</idno>
                  <idno type="idhal" notation="numeric">16368</idno>
                  <idno type="halauthorid" notation="string">111540-16368</idno>
                  <idno type="ORCID">https://orcid.org/0000-0003-3401-4649</idno>
                  <affiliation ref="#struct-415996"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Rachid</forename>
                    <surname>Alami</surname>
                  </persName>
                  <email type="md5">4cde8f071c9957070778ee49ded0bf35</email>
                  <email type="domain">laas.fr</email>
                  <idno type="idhal" notation="string">rachid-alami</idno>
                  <idno type="idhal" notation="numeric">3186</idno>
                  <idno type="halauthorid" notation="string">22730-3186</idno>
                  <idno type="IDREF">https://www.idref.fr/059057343</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-9558-8163</idno>
                  <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=lda-c1UAAAAJ&amp;hl=fr</idno>
                  <affiliation ref="#struct-392741"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Francis</forename>
                    <surname>Colas</surname>
                  </persName>
                  <email type="md5">152a6f05a7ee0f62620e489d0cffdc5a</email>
                  <email type="domain">inria.fr</email>
                  <idno type="idhal" notation="string">francis-colas</idno>
                  <idno type="idhal" notation="numeric">10037</idno>
                  <idno type="halauthorid" notation="string">1663-10037</idno>
                  <idno type="IDREF">https://www.idref.fr/112906206</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-7449-7676</idno>
                  <affiliation ref="#struct-415996"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Olivier</forename>
                    <surname>Buffet</surname>
                  </persName>
                  <email type="md5">aa57b718d11e58203d4dcbbfd06d471b</email>
                  <email type="domain">loria.fr</email>
                  <idno type="idhal" notation="string">olivier-buffet</idno>
                  <idno type="idhal" notation="numeric">1407</idno>
                  <idno type="halauthorid" notation="string">19343-1407</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-5072-5857</idno>
                  <affiliation ref="#struct-415996"/>
                </author>
              </analytic>
              <monogr>
                <idno type="localRef">Rapport LAAS n° 22500</idno>
                <title level="m">Actes des Journées Francophones Planification, Décision et Apprentissage (JFPDA)</title>
                <meeting>
                  <title>Journées Francophones Planification, Décision et Apprentissage (JFPDA)</title>
                  <date type="start">2022-06-30</date>
                  <settlement>Saint Etienne (FR)</settlement>
                  <country key="FR">France</country>
                </meeting>
                <respStmt>
                  <resp>conferenceOrganizer</resp>
                  <name>François Schwarzentruber</name>
                </respStmt>
                <imprint/>
              </monogr>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="fr">French</language>
            </langUsage>
            <textClass>
              <keywords scheme="author">
                <term xml:lang="en">Robust Planning</term>
                <term xml:lang="en">Human-Robot Collaboration</term>
                <term xml:lang="en">POMDP</term>
                <term xml:lang="fr">Collaboration humain-robot</term>
                <term xml:lang="fr">POMDP</term>
                <term xml:lang="fr">planification robuste</term>
              </keywords>
              <classCode scheme="halDomain" n="info.info-ai">Computer Science [cs]/Artificial Intelligence [cs.AI]</classCode>
              <classCode scheme="halTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halOldTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halTreeTypology" n="COMM">Conference papers</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>From the robot’s point of view, a major issue in human-robot collaboration is how to be robust against uncertain human objectives, and uncertain human behaviors given a known objective. A key preliminary question is then : How to derive realistic human behaviors given a known objective ? Indeed, to allow for collaboration, such behaviors should also account for the robot behavior, while it is not known in the first place. In this paper, we rely on Markov decision models, representing the uncertainty over the human objective as a probability distribution over a finite set of reward functions (what will induce a distribution over human behaviors). Based on this, we propose two contributions : 1. a robot planning algorithm that is robust to the uncertain human behavior and relies on solving a POMDP obtained by reasoning on the distribution over human behaviors ; and 2. an approach to automatically generate an uncertain human behavior (a policy) for each provided reward function while accounting for the possible robot behavior. A co-working scenario allows conducting experiments and presenting qualitative and quantitative results to evaluate our approach.</p>
            </abstract>
            <abstract xml:lang="fr">
              <p>Du point de vue du robot, une difficulté majeure de la collaboration homme-robot est d'être robuste face à des objectifs incertains de l'humain, et aux comportements incertains étant donné un objectif connu. Une question préliminaire clef est alors : Comment dériver des comportements humains réalistes étant donné un objectif connu ? En effet, pour rendre la collaboration possible, de tels comportements devraient aussi tenir compte du comportement du robot, alors que celui-ci n'est justement pas connu. Dans cet article, nous nous appuyons sur des modèles de décision markoviens, représentant l'incertitude sur l'objectif de l'humain par une distribution de probabilité sur un ensemble fini de fonctions de récompense (ce qui induira une distribution sur des comportements humains). Sur cette base, nous proposons deux contributions : 1. un algorithme de planification pour le robot qui est robuste au comportement incertain de l'humain et repose sur la résolution d'un POMDP obtenu en raisonnant sur la distribution sur les comportements humains ; et 2. une approche pour générer automatiquement un comportement humain incertain (une politique) pour chaque fonction de récompense fournie tout en tenant compte du comportement possible du robot. Un scénario de travail collaboratif permet de mener des expérimentations et de présenter des résultats qualitatifs et quantitatifs pour évaluer notre approche.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="researchteam" xml:id="struct-415996" status="VALID">
          <idno type="RNSR">201521241C</idno>
          <idno type="ROR">https://ror.org/05rv46r52</idno>
          <orgName>Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment</orgName>
          <orgName type="acronym">LARSEN</orgName>
          <date type="start">2017-12-01</date>
          <date type="end">2026-10-30</date>
          <desc>
            <address>
              <addrLine>Centre Inria de l'Université de Lorraine , 615 Rue du Jardin-Botanique, 54600 Villers-lès-Nancy</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.inria.fr/equipes/larsen</ref>
          </desc>
          <listRelation>
            <relation active="#struct-129671" type="direct"/>
            <relation active="#struct-300009" type="indirect"/>
            <relation active="#struct-423090" type="direct"/>
            <relation active="#struct-206040" type="indirect"/>
            <relation active="#struct-411575" type="indirect"/>
            <relation active="#struct-413289" type="indirect"/>
            <relation name="UMR7503" active="#struct-441569" type="indirect"/>
          </listRelation>
        </org>
        <org type="researchteam" xml:id="struct-392741" status="OLD">
          <orgName>Équipe Robotique et InteractionS</orgName>
          <orgName type="acronym">LAAS-RIS</orgName>
          <date type="end">2025-01-01</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.laas.fr/public/fr/ris</ref>
          </desc>
          <listRelation>
            <relation active="#struct-459" type="direct"/>
            <relation active="#struct-81148" type="indirect"/>
            <relation name="443875" active="#struct-443875" type="indirect"/>
            <relation active="#struct-116255" type="indirect"/>
            <relation active="#struct-301232" type="indirect"/>
            <relation active="#struct-443875" type="indirect"/>
            <relation active="#struct-116256" type="indirect"/>
            <relation active="#struct-217752" type="indirect"/>
            <relation name="UPR8001" active="#struct-441569" type="indirect"/>
            <relation active="#struct-448187" type="indirect"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-129671" status="VALID">
          <idno type="RNSR">198618246Y</idno>
          <idno type="ROR">https://ror.org/03fcjvn64</idno>
          <orgName>Centre Inria de l'Université de Lorraine</orgName>
          <desc>
            <address>
              <addrLine>615 rue du Jardin Botanique 54600 Villers-lès-Nancy</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.inria.fr/nancy</ref>
          </desc>
          <listRelation>
            <relation active="#struct-300009" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-300009" status="VALID">
          <idno type="ROR">https://ror.org/02kvxyf05</idno>
          <orgName>Institut National de Recherche en Informatique et en Automatique</orgName>
          <orgName type="acronym">Inria</orgName>
          <desc>
            <address>
              <addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.inria.fr/en/</ref>
          </desc>
        </org>
        <org type="department" xml:id="struct-423090" status="VALID">
          <orgName>Department of Complex Systems, Artificial Intelligence &amp; Robotics</orgName>
          <orgName type="acronym">LORIA - AIS</orgName>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.loria.fr/en/research/departments/complex-systems-artificial-intelligence-and-robotics/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-206040" type="direct"/>
            <relation active="#struct-300009" type="indirect"/>
            <relation active="#struct-411575" type="indirect"/>
            <relation active="#struct-413289" type="indirect"/>
            <relation name="UMR7503" active="#struct-441569" type="indirect"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-206040" status="VALID">
          <idno type="IdRef">067077927</idno>
          <idno type="ISNI">0000000121795429</idno>
          <idno type="RNSR">198912571S</idno>
          <idno type="IdUnivLorraine">[UL]RSI--</idno>
          <idno type="ROR">https://ror.org/02vnf0c38</idno>
          <orgName>Laboratoire Lorrain de Recherche en Informatique et ses Applications</orgName>
          <orgName type="acronym">LORIA</orgName>
          <date type="start">2012-01-01</date>
          <desc>
            <address>
              <addrLine>Campus Scientifique BP 239 54506 Vandoeuvre-lès-Nancy Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.loria.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-300009" type="direct"/>
            <relation active="#struct-411575" type="direct"/>
            <relation active="#struct-413289" type="direct"/>
            <relation name="UMR7503" active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-411575" status="VALID">
          <idno type="IdRef">184443237</idno>
          <idno type="ROR">https://ror.org/019tcpt25</idno>
          <orgName>CentraleSupélec</orgName>
          <desc>
            <address>
              <addrLine>3, rue Joliot Curie,Plateau de Moulon,91192 GIF-SUR-YVETTE Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.centralesupelec.fr</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-413289" status="VALID">
          <idno type="IdRef">157040569</idno>
          <idno type="IdUnivLorraine">[UL]100--</idno>
          <idno type="ROR">https://ror.org/04vfs2w97</idno>
          <orgName>Université de Lorraine</orgName>
          <orgName type="acronym">UL</orgName>
          <date type="start">2012-01-01</date>
          <desc>
            <address>
              <addrLine>34 cours Léopold - CS 25233 - 54052 Nancy cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-lorraine.fr/</ref>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
        <org type="laboratory" xml:id="struct-459" status="OLD">
          <idno type="IdRef">199278792</idno>
          <idno type="ISNI">0000 0001 2188 216X </idno>
          <idno type="RNSR">199517454Y</idno>
          <idno type="ROR">https://ror.org/03vcm6439</idno>
          <orgName>Laboratoire d'analyse et d'architecture des systèmes</orgName>
          <orgName type="acronym">LAAS</orgName>
          <date type="start">1968-01-01</date>
          <date type="end">2025-01-01</date>
          <desc>
            <address>
              <addrLine>7 Av du colonel Roche 31077 TOULOUSE CEDEX 4</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.laas.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-81148" type="direct"/>
            <relation name="443875" active="#struct-443875" type="indirect"/>
            <relation active="#struct-116255" type="direct"/>
            <relation active="#struct-301232" type="indirect"/>
            <relation active="#struct-443875" type="indirect"/>
            <relation active="#struct-116256" type="direct"/>
            <relation active="#struct-217752" type="direct"/>
            <relation name="UPR8001" active="#struct-441569" type="direct"/>
            <relation active="#struct-448187" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-81148" status="VALID">
          <idno type="IdRef">026404354</idno>
          <idno type="ISNI">0000000121902837</idno>
          <idno type="ROR">https://ror.org/0443n9e75</idno>
          <orgName>Université Toulouse Capitole</orgName>
          <orgName type="acronym">UT Capitole</orgName>
          <date type="start">1970-01-01</date>
          <desc>
            <address>
              <addrLine>2 rue du Doyen-Gabriel-Marty - 31042 Toulouse Cedex 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.ut-capitole.fr/</ref>
          </desc>
          <listRelation>
            <relation name="443875" active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-443875" status="VALID">
          <idno type="ROR">https://ror.org/017tgbk05</idno>
          <orgName>Communauté d'universités et établissements de Toulouse</orgName>
          <orgName type="acronym">Comue de Toulouse</orgName>
          <desc>
            <address>
              <addrLine>41 Allée Jules Guesde, 31000 Toulouse</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.univ-toulouse.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-116255" status="VALID">
          <idno type="IdRef">026388766</idno>
          <idno type="ISNI">0000 0001 2286 8343</idno>
          <idno type="ROR">https://ror.org/01h8pf755</idno>
          <idno type="Wikidata">Q858979</idno>
          <orgName>Institut National des Sciences Appliquées - Toulouse</orgName>
          <orgName type="acronym">INSA Toulouse</orgName>
          <date type="start">1963-10-21</date>
          <desc>
            <address>
              <addrLine>135, avenue de Rangueil - 31077 Toulouse cedex 4</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.insa-toulouse.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-301232" type="direct"/>
            <relation active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-301232" status="VALID">
          <idno type="IdRef">162105150</idno>
          <orgName>Institut National des Sciences Appliquées</orgName>
          <orgName type="acronym">INSA</orgName>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
        </org>
        <org type="institution" xml:id="struct-116256" status="VALID">
          <idno type="IdRef">026403994</idno>
          <idno type="ROR">https://ror.org/04ezk3x31</idno>
          <orgName>Université Toulouse - Jean Jaurès</orgName>
          <orgName type="acronym">UT2J</orgName>
          <date type="start">1971-01-01</date>
          <desc>
            <address>
              <addrLine>5 allées Antonio Machado - 31058 Toulouse Cedex 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-tlse2.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-217752" status="OLD">
          <idno type="IdRef">026404672</idno>
          <idno type="ISNI">0000000121617331</idno>
          <idno type="ROR">https://ror.org/02v6kpv12</idno>
          <idno type="Wikidata">Q1273188</idno>
          <orgName>Université Toulouse III - Paul Sabatier</orgName>
          <orgName type="acronym">UT3</orgName>
          <date type="end">2025-01-01</date>
          <desc>
            <address>
              <addrLine>118 route de Narbonne - 31062 Toulouse</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-tlse3.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-448187" status="VALID">
          <idno type="IdRef">026388820</idno>
          <idno type="ISNI">0000000121766169</idno>
          <idno type="ROR">https://ror.org/033p9g875</idno>
          <orgName>Institut National Polytechnique (Toulouse)</orgName>
          <orgName type="acronym">Toulouse INP</orgName>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.inp-toulouse.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
      </listOrg>
      <listOrg type="projects">
        <org type="anrProject" xml:id="projanr-48600" status="VALID">
          <idno type="anr">ANR-18-CE33-0001</idno>
          <idno type="program">APPEL À PROJETS GÉNÉRIQUE 2018</idno>
          <orgName>The_flying_coworker</orgName>
          <desc>L'équipier volant</desc>
          <date type="start">2018</date>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>