I am a Phd student in the RAMBO team at the Lab-STICC CNRS UMR 6285. I am also part of the RoboBreizh team, a robotics team participating in the Robocup. My areas of research are artificial intelligence and robotics. My research topic is Anticipative Motion Planning for Robots. Application to RoboCup Soccer. My thesis director is Professor Cédric Buche and my co-thesis director is Professor Ubbo Visser. My thesis is funded by CERVVAL and Brest Métropole.