  This manuscript gives an overview of my research work carried out within the
FEMTO-ST institute in Besan\c{c}on, more particularly in the Automatic and
Micro-Mechatronic Systems (AS2M) department. It is above all the result of my
(co)-supervision of interns, PhD students and postdocs. I would like to pay
tribute to them, for their major contribution to scientific research, here and
elsewhere.
