G. Portelli, J. Serres, F. Ruffier, and N. Franceschini, Modelling honeybee visual guidance in a 3-D environment, Journal of Physiology-Paris, vol.104, issue.1-2, pp.27-39, 2010.
DOI : 10.1016/j.jphysparis.2009.11.011

J. Serres, G. P. Masson, F. Ruffier, and N. Franceschini, A bee in the corridor: centering and wall-following, Naturwissenschaften, vol.8, issue.4, pp.1181-1187, 2008.
DOI : 10.1007/s00114-008-0440-6

J. Serres, D. Dray, F. Ruffier, and N. Franceschini, A vision-based autopilot for a miniature air vehicle: joint speed control and lateral obstacle avoidance, Autonomous Robots, vol.312, issue.4, pp.103-122, 2008.
DOI : 10.1007/s10514-007-9069-0

N. Franceschini, F. Ruffier, and J. Serres, A Bio-Inspired Flying Robot Sheds Light on Insect Piloting Abilities, Current Biology, vol.17, issue.4, pp.329-335, 2007.
DOI : 10.1016/j.cub.2006.12.032

M. Pudas, S. Viollet, F. Ruffier, A. Kruusing, S. Amic et al., A miniature bio-inspired optic flow sensor based on low temperature co-fired ceramics (LTCC) technology, Sensors and Actuators A : Physical, pp.88-95, 2007.
DOI : 10.1016/j.sna.2006.03.013

URL : https://hal.archives-ouvertes.fr/hal-01446807

J. Serres, F. Ruffier, S. Viollet, and N. Franceschini, Toward Optic Flow Regulation for Wall-Following and Centring Behaviours, International Journal of Advanced Robotic Systems, vol.3839, issue.4, pp.147-154, 2006.
DOI : 10.5772/5744

F. Ruffier and N. Franceschini, Optic flow regulation: the key to aircraft automatic guidance, Robotics and Autonomous Systems, vol.50, issue.4, pp.177-194, 2005.
DOI : 10.1016/j.robot.2004.09.016

F. Ruffier, S. Viollet, and N. Franceschini, Visual control of two aerial micro-robots by insect-based autopilots, Advanced Robotics, vol.18, issue.8, pp.771-786, 2004.
DOI : 10.1163/1568553041738086

F. Valette, F. Ruffier, S. Viollet, and T. Seidl, Biomimetic optic flow sensing applied to a lunar landing scenario, 2010 IEEE International Conference on Robotics and Automation, pp.2253-2260, 2010.
DOI : 10.1109/ROBOT.2010.5509364

URL : https://hal.archives-ouvertes.fr/hal-01446804

F. Ruffier, T. Mukai, H. Nakashima, J. Serres, and N. Franceschini, Combining Sound and Optic Flow Cues to Reach a Sound Source Despite Lateral Obstacles, Proceedings of the IEEE International Symposium on System Integration, pp.89-94, 2008.

G. Portelli, J. Serres, F. Ruffier, and N. Franceschini, A 3D insect-inspired visual autopilot for corridor-following, 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, pp.19-26, 2008.
DOI : 10.1109/BIOROB.2008.4762816

F. Ruffier and N. Franceschini, Aerial robot piloted in steep relief by optic flow sensors, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1266-1273, 2008.
DOI : 10.1109/IROS.2008.4651089

N. Franceschini, S. Viollet, F. Ruffier, and J. Serres, Neuromimetic Robots inspired by Insect Vision, Proceeding of CIMTEC 2008 3rd International Conference "Smart Materials, Structures and Systems, pp.4-7, 2008.
URL : https://hal.archives-ouvertes.fr/hal-01446805

J. Serres, F. Ruffier, and N. Franceschini, Two optic flow regulators for speed control and obstacle avoidance, The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006., pp.20-22, 2006.
DOI : 10.1109/BIOROB.2006.1639180

J. Serres, F. Ruffier, and N. Franceschini, Biomimetic visual navigation in a corridor : to centre or not to centre, Proceedings of the International Mediterranean Modeling Multiconference, pp.91-97, 2005.

F. Ruffier, J. Serres, and N. Franceschini, Automatic landing and take off at constant slope without terrestrial aids, Proceedings of the 31th European Rotorcraft Forum (ERF'05), CEAS, 2005.

F. Ruffier and N. Franceschini, Optic flow based AFCS for rotorcraft automatic manoeuvring (terrain following, take-off and landing) In : Proceeding of the 30th European Rotorcraft Forum, AAAF/CEAS, pp.71-72, 2004.

F. Ruffier and N. Franceschini, Visually guided micro-aerial vehicle: automatic take off, terrain following, landing and wind reaction, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, pp.2339-2346, 2004.
DOI : 10.1109/ROBOT.2004.1307411

S. Viollet, F. Ruffier, and N. Franceschini, Visual stabilisation and guidance of micro aerial robots : a biomimetic approach, Proceeding of the 35th International Symposium on Robotics, pp.31-35, 2004.

F. Ruffier, S. Viollet, and N. Franceschini, OSCAR and OCTAVE : Two bioinspired visually guided aerial micro-robots, Proceeding of the 11th IEEE Int Conference on Advanced Robotics, p.726, 2003.

G. Portelli, F. Ruffier, and N. Franceschini, Honeybees' height control and optic flow, 10e Colloque de la Société des Neurosciences, 2011.

G. Portelli, F. Ruffier, J. Serres, and E. N. Franceschini, Pilote automatique bio-inspiré pour la navigation en 3D, Journée des Jeunes Chercheurs en Robotique, vol.09, 2009.

G. Portelli, F. Ruffier, J. Serres, and E. N. Franceschini, Pilote automatique bio-inspiré pour la navigation en 3D" Poster, Journée Nationales de la Recherche en Robotique JNNR 09, 2009.

J. Serres, D. Dray, F. Ruffier, and N. Franceschini, Pilote automatique bioinspiré basé sur la vision du mouvement" Conférence MajecSTIC Marseille, Manifestation des Jeunes Chercheurs en Sciences et Technologies de l'Information et de la Communication, pp.29-31, 2008.

J. Serres, F. Ruffier, and E. N. Franceschini, Guidage visuel d'un aéroglisseur miniature dans un corridor, Journées Nationales de la Recherche en Robotique JNRR'07, 2007.

J. Serres, F. Ruffier, and N. Franceschini, Réguler le flux optique latéral pour naviger dans un corridor, Journées Nationales de la Recherche en Robotique JNRR'05, pp.289-290, 2005.

N. Franceschini, S. Viollet, and F. Ruffier, Rapport de synthèse final du projet DGA à 3 ans" Nb 0534022, 2008.

N. Franceschini and F. Ruffier, Rapport de synthèse final du projet DGA à 3 ans" Nb 04051037Etude de la faisabilité de l'appontage d'un drone sur plateforme instationnaire recourant, 2007.

F. Ruffier, Des abeilles aux robots et vice versa, Lab. MIS, 2012.

F. Ruffier, Des abeilles aux robots et vice versa, 2012.

F. Ruffier, From bees' to flying robots and back, Kyoto University, p.29

F. Ruffier, From bees' to flying robots and back

F. Ruffier, From Bees' surface following to Lunar landing, pp.25-2011

F. Ruffier, Combining sound and optic flow cues to reach a sound source despite lateral obstacles" Lab. de Mécanique et d, 2010.

F. Ruffier, Neuromorphic Optic Flow regulation applied to a Lunar landing scenario" ACT Ariadna ESA Agance Spatiale Européenne, 2 oct, 2009.

G. Portelli, F. Ruffier, J. Serres, and N. Franceschini, A 3D insect-inspired visual autopilot for corridor-following, 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, 2008.
DOI : 10.1109/BIOROB.2008.4762816

F. Ruffier, Robotique d'inspiration biologique Materio / École nationale supérieure de création industrielle (ENSCI), mars, 2009.

F. Ruffier, Biomimetic Autopilots Hirose Lab. Tokyo Institute of Technology, 2008.

F. Ruffier, Optic flow regulation: the key to aircraft automatic guidance, Robotics and Autonomous Systems, vol.50, issue.4, 2008.
DOI : 10.1016/j.robot.2004.09.016

F. Ruffier, Biomimetic Autopilots, 2008.

F. Ruffier, Biomimetic Autopilots" Bio-System and, 2008.

N. Ancona and T. Poggio, Optical flow from 1D correlation: Application to a simple time-to-crash detector, 1993 (4th) International Conference on Computer Vision, 1993.
DOI : 10.1109/ICCV.1993.378218

A. A. Argyros, D. P. Tsakiris, and C. Groyer, Biomimetic centering behavior for mobile robots with panoramic sensors. IEEE Robotics and Automation Magazine, Special issue on "Mobile robots with panoramic sensors, pp.21-30, 2004.

G. Baratoff, C. Toepfer, and H. Neumann, Combined space-variant maps for optical-flow-based navigation, Biological Cybernetics, vol.83, issue.3, pp.199-209, 2000.
DOI : 10.1007/s004220000164

G. L. Barrows, C. Neely, and K. T. Miller, Optic flow sensors for mav navigation In Fixed and flapping wing aerodynamics for Micro Air Vehicle applications, Progress in Astronautics and Aeronautics, pp.557-574, 2001.

S. Bermudezibadia, P. Pyk, and P. F. Verschure, A fly-locust based neuronal control system applied to an unmanned aerial vehicle: the invertebrate neuronal principles for course stabilization, altitude control and collision avoidance, The International Journal of Robotics Research, vol.26, issue.7, pp.759-772, 2007.
DOI : 10.1177/0278364907080253

A. Beyeler, J. Zufferey, and D. Floreano, Vision-based control of near-obstacle flight, Autonomous Robots, vol.21, issue.14, pp.48-56, 2009.
DOI : 10.1007/s10514-009-9139-6

C. Blanes, Appareil visuel elementaire pour la navigation a vue d'un robot mobile autonome, Master thesis in Neurosciences (DEA in French)

C. Blanes, Guidage visuel d'un robot mobile autonome d'inspiration biologique 2nde Partie, Institut National Polytechnique de Grenoble (INP Grenoble), pp.45-50, 1991.

F. Boyer, S. Ali, and M. Porez, Macrocontinuous Dynamics for Hyperredundant Robots: Application to Kinematic Locomotion Bioinspired by Elongated Body Animals, IEEE Transactions on Robotics, vol.28, issue.2, pp.303-317, 2012.
DOI : 10.1109/TRO.2011.2171616

A. Bry, A. Bachrach, and N. Roy, State estimation for aggressive flight in GPS-denied environments using onboard sensing, 2012 IEEE International Conference on Robotics and Automation, pp.2012-83, 2012.
DOI : 10.1109/ICRA.2012.6225295

E. Buchner, Photoreception and vision in invertebrates, chapter Behavioural analysis of spatial vision in insects, NATO ASI Series, Series A : Life Science, pp.561-621, 1984.

R. Carelli, C. Soria, O. Nasisi, and E. Freire, Stable AGV corridor navigation with fused vision-based control signals, IEEE 2002 28th Annual Conference of the Industrial Electronics Society. IECON 02, pp.2433-2438, 2002.
DOI : 10.1109/IECON.2002.1185354

J. S. Chahl, S. Thakoor, N. L. Bouffant, G. Stange, M. V. Srinivasan et al., Bioinspired Engineering of Exploration Systems: A Horizon Sensor/Attitude Reference System Based on the Dragonfly Ocelli for Mars Exploration Applications, Journal of Robotic Systems, vol.65, issue.1, pp.35-42, 2003.
DOI : 10.1002/rob.10068

J. S. Chahl, M. V. Srinivasan, and S. W. Zhang, Landing Strategies in Honeybees and Applications to Uninhabited Airborne Vehicles, The International Journal of Robotics Research, vol.23, issue.2, pp.101-110, 2004.
DOI : 10.1177/0278364904041320

T. Collett, H. Nallbach, and H. Wagner, Visual stabilization in arthropods, pp.239-263, 1993.

J. Conroy, G. Gremillion, B. Ranganathan, and J. Humbert, Implementation of wide-field integration of optic flow for autonomous quadrotor navigation, Autonomous robots, vol.27, issue.3, p.89198, 2009.

D. Coombs and K. Roberts, Bee-bot : using peripheral optical flow to avoid obstacles Intelligent robots and computer vision XI, In In SPIE, vol.1825, pp.714-721, 1992.

C. Darwin, On the origin of species by means of natural selection, or the preservation of favoured races in the struggle for life, pp.1859-1902

G. N. Desouza and A. C. Kak, Vision for mobile robot navigation: a survey, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.24, issue.2, pp.237-267, 2002.
DOI : 10.1109/34.982903

A. Dev, B. Krose, and F. Groen, Navigation of a mobile robot on the temporal development of the optic flow, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97, pp.558-563, 1997.
DOI : 10.1109/IROS.1997.655067

S. Doncieux and J. Meyer, Applications of Evolutionary Computing, chapter Evolving Neural Networks for the Control of a Lenticular Blimp, pp.626-637, 2003.

A. P. Duchon and W. H. Warren, Robot navigation from a Gibsonian viewpoint, Proceedings of IEEE International Conference on Systems, Man and Cybernetics, pp.2272-2277, 1994.
DOI : 10.1109/ICSMC.1994.400203

P. J. Duhamel, N. O. Perez-arancibia, G. L. Barrows, and R. J. Wood, Altitude feedback control of a flapping-wing microrobot using an on-board biologically inspired optical flow sensor, 2012 IEEE International Conference on Robotics and Automation, pp.4228-4235
DOI : 10.1109/ICRA.2012.6225313

F. Expert, S. Viollet, and F. Ruffier, A mouse sensor and a 2-pixel motion sensor exposed to continuous illuminance changes, 2011 IEEE SENSORS Proceedings, pp.974-977
DOI : 10.1109/ICSENS.2011.6127002

URL : https://hal.archives-ouvertes.fr/hal-00713577

N. Franceschini, Visual guidance based on optic flow: a biorobotic approach, Journal of Physiology-Paris, vol.98, issue.1-3, pp.281-292, 2004.
DOI : 10.1016/j.jphysparis.2004.06.002

N. Franceschini, A. Riehle, and A. L. Nestour, Directionally Selective Motion Detection by Insect Neurons, pp.360-390, 1989.
DOI : 10.1007/978-3-642-74082-4_17

N. Franceschini, J. Pichon, and C. Blanes, From Insect Vision to Robot Vision [and Discussion], Philosophical Transactions of the Royal Society B: Biological Sciences, vol.337, issue.1281, pp.283-294, 1992.
DOI : 10.1098/rstb.1992.0106

N. Franceschini, F. Ruffier, and J. Serres, A Bio-Inspired Flying Robot Sheds Light on Insect Piloting Abilities, Current Biology, vol.17, issue.4, pp.329-335, 2007.
DOI : 10.1016/j.cub.2006.12.032

N. Franceschini, . Ruffier, S. Serres, and . Viollet, Aerial vehicles, chapter Optic flow based visual guidance : from flying insects to miniature aerial vehicles, p.747, 2009.

M. O. Franz and H. A. Mallot, Biomimetic robot navigation, Robotics and Autonomous Systems, vol.30, issue.1-2, pp.133-153, 2000.
DOI : 10.1016/S0921-8890(99)00069-X

M. A. Garratt and J. S. , Vision-based terrain following for an unmanned rotorcraft, Journal of Field Robotics, vol.84, issue.4-5, pp.284-301, 2008.
DOI : 10.1002/rob.20239

J. J. Gibson, The Perception of the Visual World, The American Journal of Psychology, vol.64, issue.3, pp.39-46, 1950.
DOI : 10.2307/1419017

W. E. Green, P. Y. Oh, and G. Barrows, Flying insect inspired vision for autonomous aerial robot maneuvers in near-earth environments, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, pp.2347-2352, 2004.
DOI : 10.1109/ROBOT.2004.1307412

S. Griffiths, . Saunders, . Curtis, T. Barber, R. Mclain et al., Maximizing miniature aerial vehicles, IEEE Robotics & Automation Magazine, vol.13, issue.3, pp.34-43, 2006.
DOI : 10.1109/MRA.2006.1678137

K. Hausen, The Lobula-Complex of the Fly: Structure, Function and Significance in Visual Behaviour, pp.523-559, 1984.
DOI : 10.1007/978-1-4613-2743-1_15

H. Heran and M. Lindauer, Windkompensation und Seitenwindkorrektur der Bienen beim Flug ???ber Wasser, Zeitschrift f???r Vergleichende Physiologie, vol.5, issue.1, pp.39-55, 1963.
DOI : 10.1007/BF00342890

B. Herisse, T. Hamel, R. Mahony, and F. Russotto, A nonlinear terrain-following controller for a VTOL unmanned aerial vehicle using translational optical flow, 2009 IEEE International Conference on Robotics and Automation, pp.48-92, 2009.
DOI : 10.1109/ROBOT.2009.5152295

B. Herisse, T. Hamel, R. Mahony, and F. Russotto, The landing problem of a VTOL Unmanned Aerial Vehicle on a moving platform using optical flow, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.77-125, 2012.
DOI : 10.1109/IROS.2010.5652633

H. Hicheur, Q. C. Pham, G. Arechavaleta, J. P. Laumond, and A. Berthoz, The formation of trajectories during goal-oriented locomotion in humans. I. A stereotyped behaviour, European Journal of Neuroscience, vol.1, issue.8, pp.2376-2390, 2007.
DOI : 10.1111/j.1460-9568.2007.05836.x

B. K. Horn and B. Schunck, Determining optical flow, Artificial Intelligence, vol.17, issue.1-3, pp.185-203, 1981.
DOI : 10.1016/0004-3702(81)90024-2

E. Horn and R. Wehner, The mechanism of visual pattern fixation in the walking fly,Drosophila melanogaster, Journal of Comparative Physiology ? A, vol.82, issue.1, pp.39-56, 1975.
DOI : 10.1007/BF00660118

S. Hrabar and G. S. Sukatme, Optimum camera angle for optic flow-based centring response, proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp.3922-3927

S. Hrabar, G. S. Sukatme, P. Corke, K. Usher, and J. Roberts, Combined optic-flow and stereo-based navigation of urban canyons for a UAV, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3309-3316, 2005.
DOI : 10.1109/IROS.2005.1544998

J. S. Humbert and M. A. Frye, Extracting behaviorally relevant retinal image motion cues via wide-field integration, 2006 American Control Conference, 2006.
DOI : 10.1109/ACC.2006.1656635

J. S. Humbert and A. M. Hyslop, Bioinspired Visuomotor Convergence, IEEE Transactions on Robotics, vol.26, issue.1, pp.121-130, 2010.
DOI : 10.1109/TRO.2009.2033330

J. S. Humbert, R. M. Murray, and M. H. Dickinson, SENSORIMOTOR CONVERGENCE IN VISUAL NAVIGATION AND FLIGHT CONTROL SYSTEMS, In proceedings of the 16th IFAC Wold Congress, 2005.
DOI : 10.3182/20050703-6-CZ-1902.02003

J. S. Humbert, H. Hyslop, and M. Chinn, Experimental validation of wide-field integration methods for autonomous navigation, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2144-2149, 2007.
DOI : 10.1109/IROS.2007.4399488

M. Ichikawa, H. Yamada, and J. Takeuchi, Flying robot with biologically inspired vision, J. of Robotics and Mechatronics, vol.13, pp.621-624, 2001.

F. Iida, Goal-directed navigation of an autonomous flying robot using biogically inspired cheap vision, Proceedings of the 32nd International Symposium on Robotics (ISR), pp.1404-1409, 2001.

A. Auke-jan-ijspeert, D. Crespi, J. Ryczko, and . Cabelguen, From swimming to walking with a salamander robot driven by a spinal cord model, Science, issue.5817, pp.3151416-1420, 2007.

S. Kahlouche and K. Achour, Optical flow based robot obstacle avoidance, International Journal of Advanced Robotic Systems, vol.4, issue.1, pp.13-16, 2007.

J. S. Kennedy, The Migration of the Desert Locust (Schistocerca gregaria Forsk.). I. The Behaviour of Swarms. II. A Theory of Long-Range Migrations, Philosophical Transactions of the Royal Society B: Biological Sciences, vol.235, issue.625, pp.163-290, 1951.
DOI : 10.1098/rstb.1951.0003

J. S. Kennedy, The Visual Responses of Flying Mosquitoes., Proceedings of the Zoological Society of London, pp.221-242, 1939.
DOI : 10.1111/j.1096-3642.1940.tb00831.x

L. Kerhuel, S. Viollet, and N. Franceschini, Steering by Gazing: An Efficient Biomimetic Control Strategy for Visually Guided Micro Aerial Vehicles, IEEE Transactions on Robotics, vol.26, issue.2, pp.307-319, 2010.
DOI : 10.1109/TRO.2010.2042537

W. H. Kirchner and M. V. Srinivasan, Freely flying honeybees use image motion to estimate object distance, Naturwissenschaften, vol.9, issue.6, pp.281-282, 1989.
DOI : 10.1007/BF00368643

K. Kirschfeld, Neurosciences : Fourth Study Program, chapter The visual system of the fly : physiological optics and functional anatomy as related to behavior, pp.297-310

J. J. Koenderink and A. J. Doorn, Facts on optic flow, Biological Cybernetics, vol.203, issue.4, pp.247-254, 1987.
DOI : 10.1007/BF00365219

M. F. Land, Vision in Invertebrates, B : Invertebrate Visual Centers and Behavior I, vol. VII/6B, Handbook of Sensory Physiology, chapterOptics and Vision in Invertebrates, 1981.

D. Lucas and T. Kanade, An iterative image registration technique with an application to stereo vision, proceedings of the 7th International Joint Conference on Artificial Intelligence (IJCAI), pp.674-679, 1981.

S. Lupashin, A. Schollig, M. Hehn, and R. , The Flying Machine Arena as of 2010, 2011 IEEE International Conference on Robotics and Automation, pp.2970-2971
DOI : 10.1109/ICRA.2011.5980308

F. Mura and N. Franceschini, Visual control of altitude and speed in a flying agent, From Animals to Animats III, pp.91-99, 1994.

L. Muratet, S. Doncieux, Y. Briere, and J. A. Meyer, A contribution to vision-based autonomous helicopter flight in urban environments, Robotics and Autonomous Systems, vol.50, issue.4, pp.195-209, 2005.
DOI : 10.1016/j.robot.2004.09.017

URL : https://hal.archives-ouvertes.fr/hal-01185695

D. Murray, K. Bradshaw, P. Mclauchlan, I. Reid, and P. Sharkey, Driving saccade to pursuit using image motion, International Journal of Computer Vision, vol.11, issue.2, pp.205-228, 1995.
DOI : 10.1007/BF01539627

T. Netter and N. Franceschini, Neuromorphic optical flow sensing for nap-of-theearth flight, Proc. of Conf. on Mobile Robots XIV, pp.208-216, 1999.

T. Netter and N. Franceschini, A robotic aircraft that follows terrain using a neuromorphic eye, IEEE/RSJ International Conference on Intelligent Robots and System, pp.129-134, 2002.
DOI : 10.1109/IRDS.2002.1041376

T. R. Neuman and H. Bulthoff, Insect Inspired Visual Control of Translatory Flight, Proc. of the ECAL 2001, pp.627-636, 2001.
DOI : 10.1007/3-540-44811-X_71

J. Pichon, C. Blanes, and N. Franceschini, Visual Guidance Of A Mobile Robot Equipped With A Network Of Self-Motion Sensors, Mobile Robots IV, pp.44-53, 1989.
DOI : 10.1117/12.969868

J. Pichon, Guidage visuel d'un robot mobile autonome d'insipiration biologique 1ère Partie, pp.45-49, 1991.

G. Portelli, J. Serres, F. Ruffier, and N. Franceschini, A 3D insect-inspired visual autopilot for corridor-following, 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, pp.19-26, 2008.
DOI : 10.1109/BIOROB.2008.4762816

G. Portelli, F. Ruffier, and N. Franceschini, Honeybees change their height to restore their optic flow, Journal of Comparative Physiology A, vol.34, issue.4, pp.307-313, 2010.
DOI : 10.1007/s00359-010-0510-z

G. Portelli, J. Serres, F. Ruffier, and N. Franceschini, Modelling honeybee visual guidance in a 3-D environment, Journal of Physiology-Paris, vol.104, issue.1-2, pp.27-39
DOI : 10.1016/j.jphysparis.2009.11.011

G. Portelli, F. Ruffier, F. L. Roubieu, and N. Franceschini, Honeybees' Speed Depends on Dorsal as Well as Lateral, Ventral and Frontal Optic Flows, PLoS ONE, vol.3, issue.11, pp.78-82
DOI : 10.1371/journal.pone.0019486.s002

URL : https://hal.archives-ouvertes.fr/hal-00743523

W. Reichardt, Movement perception in insects, 1969.

M. Reiser and M. Dickinson, A test bed for insect-inspired robotic control, Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences, vol.361, issue.1811, pp.2267-2285, 2003.
DOI : 10.1098/rsta.2003.1259

J. R. Riley, U. Greggers, A. D. Smith, D. R. Reynolds, and R. Menzel, The flight paths of honeybees recruited by the waggle dance, Nature, vol.99, issue.7039, pp.205-207, 2005.
DOI : 10.1038/nature03526

F. L. Roubieu, J. Serres, N. Franceschini, F. Ruffier, and S. Viollet, A fully-autonomous hovercraft inspired by bees: Wall following and speed control in straight and tapered corridors, 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp.2012-72
DOI : 10.1109/ROBIO.2012.6491150

URL : https://hal.archives-ouvertes.fr/hal-00743129

F. Ruffier and F. Expert, Visual motion sensing onboard a 50-g helicopter flying freely under complex VICON-lighting conditions, 2012 ICME International Conference on Complex Medical Engineering (CME), pp.634-639, 2012.
DOI : 10.1109/ICCME.2012.6275670

URL : https://hal.archives-ouvertes.fr/hal-00714425

F. Ruffier and N. Franceschini, Octave, systeme de controle bio-inspire de l'altitude d'un micro-aeronef, Proceeding of 1ere journees du Reseau Thematique Pluridisciplinaire (RTP) Micro-Robotique, pp.55-58, 2002.

F. Ruffier and N. Franceschini, OCTAVE: a bioinspired visuo-motor control system for the guidance of micro-air-vehicles, Bioengineered and Bioinspired Systems, pp.1-12
DOI : 10.1117/12.498193

F. Ruffier and N. Franceschini, Visually guided micro-aerial vehicle: automatic take off, terrain following, landing and wind reaction, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, pp.2339-2346, 2004.
DOI : 10.1109/ROBOT.2004.1307411

F. Ruffier and N. Franceschini, Optic flow regulation: the key to aircraft automatic guidance, Robotics and Autonomous Systems, vol.50, issue.4, pp.177-194, 2005.
DOI : 10.1016/j.robot.2004.09.016

F. Ruffier and N. Franceschini, Aerial robot piloted in steep relief by optic flow sensors, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008.
DOI : 10.1109/IROS.2008.4651089

F. Ruffier, S. Viollet, S. Amic, and N. Franceschini, Bio-inspired optical flow circuits for the visual guidance of micro air vehicles, Proceedings of the 2003 International Symposium on Circuits and Systems, 2003. ISCAS '03., pp.846-849, 2003.
DOI : 10.1109/ISCAS.2003.1205152

F. Ruffier, T. Mukai, H. Nakashima, J. Serres, and N. Franceschini, Combining sound and optic flow cues to reach a sound source despite lateral obstacles, Proc. of the 2008 IEEE Int. Symp. on System Integration, pp.89-94, 2008.

F. Ruffier, J. Serres, G. Portelli, and N. Franceschini, Boucles visuo-motrices bio-mimetiques pour le pilotage automatique de micro-aeronefs, 7eme Journees Nationales de la Recherche en Robotique (JNRR'09), Grande Garenne, 2009.

F. Ruffier, S. Benacchio, F. Expert, and E. Ogam, A tiny directional sound sensor inspired by crickets designed for micro-air vehicles, 2011 IEEE SENSORS Proceedings, pp.970-973
DOI : 10.1109/ICSENS.2011.6126978

URL : https://hal.archives-ouvertes.fr/hal-00654502

F. Ruffier, . Pilote, and . Biomimetique, Système générique inspiré du contrôle visuomoteur des insectes pour : le décollage, le suivi de terrain, la réaction au vent et l' atterrissage automatiques d' un micro-aéronef, pp.41-58, 2004.

J. Santos-victor and G. Sandini, Uncalibrated obstacle detecttion using normal flow. Machine Vision and Applications, pp.130-137, 1996.

J. Santos-victor, G. Sandini, F. Curotto, and S. Garibaldi, Divergent stereo in autonomous navigation : learning from bees, proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp.434-439, 1993.

J. Santos-victor, G. Sandini, F. Curotto, and S. Garibaldi, Divergent stereo in autonomous navigation: From bees to robots, International Journal of Computer Vision, vol.60, issue.6162, pp.159-177, 1995.
DOI : 10.1007/BF01418981

C. Schilstra and J. H. Van-hateren, Blowfly flight and optic flow. i. thorax kinematics and flight dynamics, Journal of Experimental Biology, vol.202, pp.1481-1490, 1999.

J. Serres, . Dray, N. Ruffier, and . Francechini, A vision-based autopilot for a miniature air vehicle: joint speed control and lateral obstacle avoidance, Autonomous Robots, vol.312, issue.4, pp.103-122, 2008.
DOI : 10.1007/s10514-007-9069-0

J. Serres, G. Masson, N. Ruffier, and . Franceschini, A bee in the corridor: centering and wall-following, Naturwissenschaften, vol.8, issue.4, pp.1181-1187, 2008.
DOI : 10.1007/s00114-008-0440-6

S. Shen, N. Michael, and V. Kumar, Autonomous indoor 3D exploration with a micro-aerial vehicle, 2012 IEEE International Conference on Robotics and Automation, pp.9-15
DOI : 10.1109/ICRA.2012.6225146

M. N. Sreenivasa, P. Soueres, J. Laumond, and A. Berthoz, Steering a humanoid robot by its head, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009.
DOI : 10.1109/IROS.2009.5354503

M. V. Srinivasan, M. Lehrer, W. H. Kirchner, S. W. Zhang, M. V. Srinivasan et al., Range perception through apparent image speed in freely flying honeybees Honeybee navigation en route to the goal : visual flight control and odometry, Visual Neuroscience, J. Exp. Biol, vol.199, issue.55, pp.237-244, 1996.

M. V. Srinivasan, J. S. Chahl, K. Weber, S. Venkatesh, M. G. Nagle et al., Robot navigation inspired by principles of insect vision, Robotics and Autonomous Systems, vol.26, issue.2-3, pp.203-216, 1999.
DOI : 10.1016/S0921-8890(98)00069-4

M. V. Srinivasan, S. W. Zhang, J. Chahl, E. Barth, and S. Venkatesh, How honeybees make grazing landings on flat surfaces, Biological Cybernetics, vol.83, issue.3, pp.171-183, 2000.
DOI : 10.1007/s004220000162

A. D. Straw, Vision Egg: An Open-Source Library for Realtime Visual Stimulus Generation, Frontiers in Neuroinformatics, vol.2, pp.1-10, 2008.
DOI : 10.3389/neuro.11.004.2008

A. D. Straw, S. Lee, and M. H. Dickinson, Visual Control of Altitude in Flying Drosophila, Current Biology, vol.20, issue.17, pp.1-7, 2010.
DOI : 10.1016/j.cub.2010.07.025

F. Valette, F. Ruffier, S. Viollet, and T. Seidl, Biomimetic optic flow sensing applied to a lunar landing scenario, 2010 IEEE International Conference on Robotics and Automation, pp.2253-2260, 2010.
DOI : 10.1109/ROBOT.2010.5509364

URL : https://hal.archives-ouvertes.fr/hal-01446804

S. Viollet and N. Franceschini, A miniature biomimetic gaze control system, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, pp.504-510, 2004.
DOI : 10.1109/ROBOT.2004.1307199

B. Webb, Can robots make good models of biological behavior ? Behav, Brain Sci, vol.24, pp.1033-1050, 2001.

B. Webb and R. Harrison, Integrating sensorimotor systems in a robot model of cricket behaviour, Sensor Fusion and Decentralized Control in Robotic Systems III, pp.113-124, 2000.

B. Webb and T. Scutt, A simple latency-dependent spiking-neuron model of cricket phonotaxis, Biological Cybernetics, vol.82, issue.3, pp.247-269, 2000.
DOI : 10.1007/s004220050024

K. Weber, S. Venkatesh, and M. V. Srinivasan, From living eyes to seeing machines, chapter Insect inspired behaviours for the autonomous control of mobile robots, pp.226-248, 1997.

R. J. Wood, The First Takeoff of a Biologically Inspired At-Scale Robotic Insect, IEEE Transactions on Robotics, vol.24, issue.2, pp.341-347, 2008.
DOI : 10.1109/TRO.2008.916997

W. C. Wu, L. Schenato, R. J. Wood, and R. S. Fearing, Biomimetic sensor suite for flight control of a micromechanical flying insect : Design and experimental results, Proceeding of IEEE Int. Conf. on Robotics and Automation (ICRA), pp.1146-1151, 2003.

J. Zufferey and D. Floreano, Fly-inspired visual steering of an ultralight indoor aircraft, IEEE Transactions on Robotics, vol.22, issue.1, pp.137-146, 2006.
DOI : 10.1109/TRO.2005.858857

J. Zufferey, A. Klaptocz, A. Beyeler, J. Nicoud, and D. Floreano, A 10-gram vision-based flying robot, Advanced Robotics, vol.21, issue.14, pp.1671-1684, 2007.
DOI : 10.1163/156855307782227417

J. C. Zufferey, A. Beyeler, and D. Floreano, Vision-based navigation from wheels to wings, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), pp.2968-2973, 2003.
DOI : 10.1109/IROS.2003.1249322

J. Zufferey, Bio-inspired vision-based flying robots URL http://library.epfl.ch/theses/?nr=3194, Prix Asea Brown Boveri Ltd (ABB), 2005.

J. Zufferey and D. Floreano, Toward 30-gram Autonomous Indoor Aircraft: Vision-based Obstacle Avoidance and Altitude Control, Proceedings of the 2005 IEEE International Conference on Robotics and Automation
DOI : 10.1109/ROBOT.2005.1570504

J. Zufferey, A. Beyeler, and D. Floreano, Autonomous flight at low altitude using light sensors and little computational power, International Journal of Micro Air Vehicles, vol.23, issue.3, pp.107-117, 2010.
DOI : 10.1260/1756-8293.2.2.107

F. Ruffier and F. Expert, Visual motion sensing onboard a 50-g helicopter flying freely under complex VICON-lighting conditions, 2012 ICME International Conference on Complex Medical Engineering (CME), pp.634-639, 2012.
DOI : 10.1109/ICCME.2012.6275670

URL : https://hal.archives-ouvertes.fr/hal-00714425

F. L. Roubieu, F. Expert, M. Boyron, B. Fuschlock, S. Viollet et al., A novel 1-gram insect based device measuring visual motion along 5 optical directions, 2011 IEEE SENSORS Proceedings, pp.687-690, 2011.
DOI : 10.1109/ICSENS.2011.6127157

URL : https://hal.archives-ouvertes.fr/hal-00716606

F. Expert, S. Viollet, and F. Ruffier, Outdoor field performances of insect-based visual motion sensors, Journal of Field Robotics, vol.22, issue.1, pp.529-541, 2011.
DOI : 10.1002/rob.20398

URL : https://hal.archives-ouvertes.fr/hal-00712699

G. Portelli, F. Ruffier, F. Roubieu, and N. Franceschini, Honeybees' Speed Depends on Dorsal as Well as Lateral, Ventral and Frontal Optic Flows, PLoS ONE, vol.3, issue.11, 2011.
DOI : 10.1371/journal.pone.0019486.s002

URL : https://hal.archives-ouvertes.fr/hal-00743523

G. Portelli, F. Ruffier, and N. Francheschini, Honeybees change their height to restore their optic flow, Journal of Comparative Physiology A, vol.34, issue.4, pp.307-313, 2010.
DOI : 10.1007/s00359-010-0510-z

F. Valette, F. Ruffier, S. Viollet, and T. Seidl, Biomimetic optic flow sensing applied to a lunar landing scenario, 2010 IEEE International Conference on Robotics and Automation, pp.2253-2260, 2010.
DOI : 10.1109/ROBOT.2010.5509364

URL : https://hal.archives-ouvertes.fr/hal-01446804

G. Portelli, J. Serres, F. Ruffier, and N. Franceschini, Modelling honeybee visual guidance in a 3-D environment, Journal of Physiology-Paris, vol.104, issue.1-2, pp.27-39, 2010.
DOI : 10.1016/j.jphysparis.2009.11.011

F. Ruffier, T. Mukai, H. Nakashima, J. Serres, and N. Franceschini, Combining Sound and Optic Flow Cues to Reach a Sound Source Despite Lateral Obstacles, Proceedings of the IEEE International Symposium on System Integration, pp.89-94, 2008.

F. Ruffier and N. Franceschini, Aerial robot piloted in steep relief by optic flow sensors, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1266-1273, 2008.
DOI : 10.1109/IROS.2008.4651089

J. Serres, G. P. Masson, F. Ruffier, and N. Franceschini, A bee in the corridor: centering and wall-following, Naturwissenschaften, vol.8, issue.4, pp.1181-1187, 2008.
DOI : 10.1007/s00114-008-0440-6

J. Serres, D. Dray, F. Ruffier, and N. Franceschini, A vision-based autopilot for a miniature air vehicle: joint speed control and lateral obstacle avoidance, Autonomous Robots, vol.312, issue.4, pp.103-122, 2008.
DOI : 10.1007/s10514-007-9069-0

N. Franceschini, F. Ruffier, and J. Serres, A Bio-Inspired Flying Robot Sheds Light on Insect Piloting Abilities, Current Biology, vol.17, issue.4, pp.329-335, 2007.
DOI : 10.1016/j.cub.2006.12.032

M. Pudas, S. Viollet, F. Ruffier, A. Kruusing, S. Amic et al., A miniature bio-inspired optic flow sensor based on low temperature co-fired ceramics (LTCC) technology, Sensors and Actuators A : Physical, pp.88-95, 2007.
DOI : 10.1016/j.sna.2006.03.013

URL : https://hal.archives-ouvertes.fr/hal-01446807

F. Ruffier and N. Franceschini, Optic flow regulation: the key to aircraft automatic guidance, Robotics and Autonomous Systems, vol.50, issue.4, pp.177-194, 2005.
DOI : 10.1016/j.robot.2004.09.016