Exquisite visually-guided movements underpin expertise in fast interceptive sports. The assumption that skilled performance relies on superior visual skills has been challenged by studies of sporting expertise which typically advocate vision to be a poor predictor of sporting success. This discordance is addressed in this thesis by examining whether visual degradation (in the form of blur) affects the performance of an interceptive action where successful execution demands precise spatial and temporal visual-motor control. The vision of skilled cricket batters was blurred using contact lenses (four increasing levels: plano, +1.00, +2.00, +3.00) in each of two experimental phases. In the first phase batters faced a bowling-machine and in-situ bowlers to examine the effect of blur on bat-ball interception. The highest level of blur (+3.00) was required to produce a significant decrease in batting performance when facing the bowling-machine at medium-paced ball-velocities (105-115 kph). A similar effect of blur was found when facing in-situ bowlers of comparable ball-velocity, however performance was found to be affected by a lower level of blur (+2.00) for faster-paced ball-velocities (120-130 kph). The +1.00 blur was concluded even at this higher ball-velocity to have no measurable effect on interceptive performance in a natural setting. The second phase sought to investigate the effect of blur on anticipation: a perceptual skill established to be an important component of expertise in many interceptive sports. It was established, using temporal occlusion of a bowling sequence, that optimal anticipation required an opportunity for bat-ball interception (facilitating close coupling between perception and action). Coupled anticipation demonstrated velocity-dependent resilience to blur; +3.00 and +2.00 were required for respective decreases in the anticipation of action-sequences for medium- and fast-paced ball-velocities. Remarkably, results suggest that blur may enhance uncoupled (verbal) anticipation according to the movement velocity of the bowler. Experimental results led to the conclusion that clear vision is not necessarily required for optimal interceptive performance, even when the demanding spatio-temporal task simulates the conditions experienced at the highest levels of competition. Results are interpreted based on the predictions of the dual-pathway theory of vision, including differences in the underlying visual information processed via these pathways.

Exquisite visually-guided movements underpin expertise in fast interceptive sports. The assumption that skilled performance relies on superior visual skills has been challenged by studies of sporting expertise which typically advocate vision to be a poor predictor of sporting success. This discordance is addressed in this thesis by examining whether visual degradation (in the form of blur) affects the performance of an interceptive action where successful execution demands precise spatial and temporal visual-motor control. The vision of skilled cricket batters was blurred using contact lenses (four increasing levels: plano, +1.00, +2.00, +3.00) in each of two experimental phases. In the first phase batters faced a bowling-machine and in-situ bowlers to examine the effect of blur on bat-ball interception. The highest level of blur (+3.00) was required to produce a significant decrease in batting performance when facing the bowling-machine at medium-paced ball-velocities (105-115 kph). A similar effect of blur was found when facing in-situ bowlers of comparable ball-velocity, however performance was found to be affected by a lower level of blur (+2.00) for faster-paced ball-velocities (120-130 kph). The +1.00 blur was concluded even at this higher ball-velocity to have no measurable effect on interceptive performance in a natural setting. The second phase sought to investigate the effect of blur on anticipation: a perceptual skill established to be an important component of expertise in many interceptive sports. It was established, using temporal occlusion of a bowling sequence, that optimal anticipation required an opportunity for bat-ball interception (facilitating close coupling between perception and action). Coupled anticipation demonstrated velocity-dependent resilience to blur; +3.00 and +2.00 were required for respective decreases in the anticipation of action-sequences for medium- and fast-paced ball-velocities. Remarkably, results suggest that blur may enhance uncoupled (verbal) anticipation according to the movement velocity of the bowler. Experimental results led to the conclusion that clear vision is not necessarily required for optimal interceptive performance, even when the demanding spatio-temporal task simulates the conditions experienced at the highest levels of competition. Results are interpreted based on the predictions of the dual-pathway theory of vision, including differences in the underlying visual information processed via these pathways.

La saccade oculaire, i.e. mouvement très rapide des yeux, permet d’amener l’objet d’intérêt sur la fovéa, afin que le système visuel puisse analyser ses propriétés. Malgré l’importance du cortex occipital dans le traitement de l’information visuelle, son rôle dans la génération de saccades est encore peu connu. Pour ce faire, l’hémianopsie latérale homonyme consécutive à une atteinte unilatérale du cortex occipital (i.e. amputation de l’hémichamp visuel controlésionnel) peut être considérée comme modèle d’étude. En effet, malgré la perte de la vision consciente, certains patients sont capables de répondre à un stimulus présenté dans l’hémichamp controlésionnel. Ces capacités préservées, appelées vision aveugle, peuvent être de nature attentionnelle et/ou motrice. Le but de cette thèse est ainsi d’étudier l’implication du cortex occipital dans la génération de saccades. En manipulant les propriétés spatiales et temporelles du point de fixation, de la cible ou d’un distracteur, les paramètres des saccades de ces patients ont été examinés en étudiant différents types de saccades (volontaires et réactives) ainsi que des effets connus pour moduler les paramètres saccadiques (effets d’un distracteur et adaptation saccadique). Parallèlement, les capacités de vision aveugle ont été examinées à partir de différentes tâches perceptives (détection et discrimination), nécessitant une réponse verbale, manuelle (appui-bouton) et/ou oculomotrice (saccade et fixation). Malgré la perte de la conscience visuelle du stimulus présenté dans l’hémichamp controlésionnel, des capacités de vision aveugle sont attestées par la réalisation d’une action oculomotrice sur ce stimulus. La dichotomie observée dans ces capacités en fonction de la nécessité de réaliser une action sur la stimulation visuelle suppose une implication du cortex occipital dans les mécanismes de sélection pour l’action et pour la perception. Par ailleurs, une dissociation est observée dans l’atteinte des paramètres saccadiques. Si l’initiation de la saccade – reflétée par la latence - est altérée dans les deux hémichamps ipsi- et controlésionnel, le calcul de la métrique de la saccade – reflétée par l’amplitude - est spécifiquement altéré dans l’hémichamp controlésionnel. Ainsi, nos résultats sont en faveur d’une implication du cortex occipital dans la génération des saccades oculaires ainsi qu’en faveur d’un modèle fonctionnel de génération de saccades à deux voies de traitement parallèles dédiées respectivement à l’initiation et à la métrique de la saccade. / Saccadic eye movements are rapid and necessary to targeting the interesting object in our visual environment. Despite the crucial role of the occipital cortex in the visual process, its implication in the saccadic generation is poorly studied. To examine this, we can use one pathological model, the homonymous hemianopia (i.e. loss of contralateral visual hemifield to unilateral occipital lesion). Despite the loss of conscious vision, some patients can be able to react at one stimulus presented in the contralesional hemifield. These residual abilities, named blindsight, can be observed in attentional and/or motor tasks. The aim of this thesis is examine the parameters of saccades in hemianopic patients, through the study of saccade types (voluntary and reflexive saccades) and classical effects on the modulation of saccadic parameters (gap effect and distractor effects, by manipulating the spatial and temporal characteristics of the fixation point, the target or a distractor). Furthermore, the residual abilities are investigated by perceptual tasks (detection or discrimination) with different types of response: verbal, manual (key press) and motor (saccade or fixation). Overall, despite the loss of conscious perception of the target presented in the contralesional hemifield, residual abilities are found as showed by the saccadic execution toward the target, with a dichotomy depending on the need to perform an action on the visual stimulation. This suggests that the role of the occipital cortex is not the same in the selection mechanism for the action and the perception. Concerning to saccadic programming, dissociation is found in the saccadic parameters. The saccadic initiation, studied by with the saccade latency, is altered in both ipsi- and contralesional hemifields but the saccade metric, studied by the saccade amplitude, is altered in the contralesional hemifield. This suggests that the occipital cortex is implicated in the saccade generation and that saccade programing involves two pathways for the initiation and the metric of saccades.

Les agents robotiques mobiles ou aériens sont confrontés au besoin de planifier des actions avec information incomplètesur l'état du monde. Dans ce contexte, cette thèse propose un cadre de modélisation et de résolution de problèmes deplanification de perception et de mission pour un drone hélicoptère qui évolue dans un environnement incertain etpartiellement observé afin de détecter et de reconnaître des cibles. Nous avons fondé notre travail sur les ProcessusDécisionnels Markoviens Partiellement Observables (POMDP), car ils proposent un schéma d'optimisation général pour lestâches de perception et de décision à long terme. Une attention particulière est donnée à la modélisation des sortiesincertaines de l'algorithme de traitement d'image en tant que fonction d'observation. Une analyse critique de la mise enoeuvre en pratique du modèle POMDP et du critère d'optimisation associé est proposée. Afin de respecter les contraintes desécurité et de sûreté de nos robots aériens, nous proposons ensuite une approche pour tenir compte des propriétés defaisabilité d'actions dans des domaines partiellement observables : le modèle AC-POMDP, qui sépare l'informationconcernant la vérification des propriétés du modèle, de celle qui renseigne sur la nature des cibles. Enfin, nous proposonsun cadre d'optimisation et d'exécution en parallèle de politiques POMDP en temps contraint. Ce cadre est basé sur uneoptimisation anticipée et probabilisée des états d'exécution futurs du système. Nous avons embarqué ce cadrealgorithmique sur les hélicoptères autonomes de l'Onera, et l'avons testé en vol et en environnement réel sur une missionde détection et reconnaissance de cibles. / Mobile and aerial robots are faced to the need of planning actions with incomplete information about the state of theworld. In this context, this thesis proposes a modeling and resolution framework for perception and mission planningproblems where an autonomous helicopter must detect and recognize targets in an uncertain and partially observableenvironment. We founded our work on Partially Observable Markov Decision Processes (POMDPs), because it proposes ageneral optimization framework for perception and decision tasks under long-term horizon. A special attention is given tothe outputs of the image processing algorithm in order to model its uncertain behavior as a probabilistic observationfunction. A critical study on the POMDP model and its optimization criterion is also conducted. In order to respect safetyconstraints of aerial robots, we then propose an approach to properly handle action feasibility constraints in partiallyobservable domains: the AC-POMDP model, which distinguishes between the verification of environmental properties andthe information about targets' nature. Furthermore, we propose a framework to optimize and execute POMDP policies inparallel under time constraints. This framework is based on anticipated and probabilistic optimization of future executionstates of the system. Finally, we embedded this algorithmic framework on-board Onera's autonomous helicopters, andperformed real flight experiments for multi-target detection and recognition missions.