Дисертації з теми "Commande multi-robots"
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Rodrigues, de Campos Gabriel. "Stratégies de commande collaborative pour des systèmes multi-robots." Phd thesis, Université de Grenoble, 2012. http://tel.archives-ouvertes.fr/tel-00981962.
Benachenhou, Mohammed-Rédha. "Electrolocation dans un contexte multi-robots : théorie et expérimentations." Ecole Centrale de Nantes, 2014. http://www.theses.fr/2014ECDN0018.
Chu, Xing. "Commande distribuée, en poursuite, d'un système multi-robots non holonomes en formation." Thesis, Ecole centrale de Lille, 2017. http://www.theses.fr/2017ECLI0035/document.
The main aim of this thesis is to study the distributed tracking control problem for the multi-robot formation systems with nonholonomic constraint, of which the control objective it to drive a team of unicycle-type mobile robots to form one desired formation configuration with its centroid moving along with another dynamic reference trajectory, which can be specified by the virtual leader or human. We consider several problems in this point, ranging from finite-time stability andfixed-time stability, event-triggered communication and control mechanism, kinematics and dynamics, continuous-time systems and hybrid systems. The tracking control problem has been solved in this thesis via developing diverse practical distributed controller with the consideration of faster convergence rate, higher control accuracy, stronger robustness, explicit and independent convergence time estimate, less communication cost and energy consumption.In the first part of the thesis, we first study the finite-time stability for the multi-robot formation systems in Chapter 2. To improve the pior results, a novel class of finite-time controller is further proposed in Chapter 3, which is also called fixed-time controller. The dynamics of nonholonomic multi-robot formation systems is considered in Chapter 4. In the second part, we first investigate the event-triggered communication and control mechanism on the nonholonomic multi-robot formation tracking systems in Chapter 5. Moreover, in order to develop a digital implement scheme, we propose another class of periodic event-triggered controller based on fixed-time observer in Chapter 6
SEGUILLON, MARIE CLAUDE. "Conception et implantation de la commande d'un robot hydraulique : integration dans un systeme multi-robots multi-capteurs." Rennes 1, 1989. http://www.theses.fr/1989REN10143.
Humbert, Gaël. "Automatisation et amélioration de performances d'application pick & place multi-robots." Thesis, Lyon, 2016. http://www.theses.fr/2016LYSEI036/document.
This work belongs to the field of packaging. To best of our knowledge, in industrial and academic context, there are no digital tools that take into account all the steps of the development cycle to assist in the sizing and in the improvement of performance of multi-robots pick & place applications. The aim of these works is the development of a methodology usable, using a single software tool, throughout the creation cycle of a pick & place application. Firstly, kinematics of different robots and their environment are addressed. Secondly, control laws for individual and collaborative work of robots are developed. Finally, the transfer of the program from simulation to experimentation is carried out. At each step, a testing phase is initiated. Behavioral tests to check the robots operation and their interaction with their environment are performed. Simulation tests of the different algorithms are carried out according different configurations of pick & place application. Finally, a comparison between the result in simulation and in experimentation shows the relevance of the proposed approach
Mouad, Mehdi. "Architecture de COntrôle/COmmande dédiée aux systèmes Distribués Autonomes (ACO²DA) : application à une plate-forme multi-véhicules." Thesis, Clermont-Ferrand 2, 2014. http://www.theses.fr/2014CLF22437/document.
The difficulty of coordinating a group of mobile robots is adressed in this thesis by investigating control architectures which aim to break task complexity. In fact, multi-robot navigation may become rapidly inextricable, specifically if it is made in hazardous and dynamical environment requiring precise and secure cooperation. The considered task is the navigation of a group of mobile robots in unknown environments in presence of (static and dynamic) obstacles. To overcome its complexity, it is proposed to divide the overall task into a set of basic behaviors/controllers (obstacle avoidance, attraction to a dynamical target, planning, etc.). Applied control is chosen among these controllers according to sensors information (camera, local sensors, etc.). The specificity of the theoretical approach is to combine the benefits of multi-controller control architectures to those of multi-agent organizational models to provide a high level of coordination between mobile agents-robots systems. The group of mobile robots is then coordinated according to different norms and specifications of the organizational model. Thus, activating a basic behavior in favor of another is done in accordance with the structural constraints of the robots in order to ensure maximum safety and precision of the coordinated movements between robots. Cooperation takes place through a supervisor agent (centralized) to reach the desired destination faster ; unexpected events are individually managed by the mobile agents/robots in a distributed way. To guarantee performance criteria of the control architecture, hybrid systems tolerating the control of continuous systems in presence of discrete events are explored. In fact, this control allows coordinating (by discrete part) the different behaviors (continuous part) of the architecture. The development of ROBOTOPIA simulator allowed us to illustrate each contribution by many results of simulations
Nguyen, Thanh Long. "Fusion d'informations multi-capteurs pour la commande du robot humanoïde NAO." Thesis, Université Grenoble Alpes (ComUE), 2017. http://www.theses.fr/2017GREAA010/document.
Being interested in the important role of robotics in human life, we do a research about the improvement in reliability of a humanoid robot NAO by using multi-sensor fusion. In this research, we propose two scenarios: the color detection and the object recognition. In these two cases, a camera of the robot is used in combination with external cameras to increase the reliability under non-ideal working conditions. For the color detection, the NAO robot is requested to find an object whose color is described in human terms such as: red, yellow, brown, etc. The main problem to be solved is how the robot recognizes the colors as well as the human perception does. To do that, we propose a Fuzzy Sugeno system to decide the color of a detected target. For simplicity, the chosen targets are colored balls, so that the Hough transformation is employed to extract the average pixel values of the detected ball, then these values are used as the inputs for the Fuzzy system. The membership functions and inference rules of the system are constructed based on perceptual evaluation of human. The output of the Fuzzy system is a numerical value indicating a color name. Additionally, a threshold value is introduced to define the zone of decision for each color. If the Fuzzy output falls into a color interval constructed by the threshold value, that color is considered to be the output of the system. This is considered to be a good solution in an ideal condition, but not in an environment with uncertainties and imprecisions such as light variation, or sensor quality, or even the similarity among colors. These factors really affect the detection of the robot. Moreover, the introduction of the threshold value also leads to a compromise between uncertainty and reliability. If this value is small, the decisions are more reliable, but the number of uncertain cases are increases, and vice versa. However, the threshold value is preferred to be small after an experimental validation, so the need for a solution of uncertainty becomes more important. To do that, we propose adding more 2D cameras into the detection system of the NAO robot. Each camera applies the same method as described above, but their decisions are fused by using the Dempster-Shafer theory in order to improve the detection rate. The threshold value is taken into account to construct mass values from the Sugeno Fuzzy output of each camera. The Dempster-Shafer's rule of combination and the maximum of pignistic probability are chosen in the method. According to our experimens, the detection rate of the fusion system is really better than the result of each individual camera. We extend this recognition process for colored object recognition. These objects are previously learned during the training phase. To challenge uncertainties and imprecisions, the chosen objects look similar in many points: geometrical form, surface, color, etc. In this scenario, the recognition system has two 2D cameras: one of NAO and one is an IP camera, then we add a 3D camera to take the advantages of depth information. For each camera, we extract feature points of the objects (SURF descriptor for 2D data, and the SHOT descriptor for 3D data). To combine the cameras in the recognition system, the Dempster-Shafer theory is again employed for the fusion. Based on the correspondence to trained models stored in the learning base, each feature point of the detected object votes for one or several classes i.e. a hypothesis in the power set. We construct a mass function after a normalization step. In this case, the Dempster-Shafer's rule of combination and the maximum of pignistic probability are employed to make the final decision. After doing three experiments, we conclude that the recognition rate of the fusion system is much better than the rate of each individual camera, from that we confirm the benefits of multi-sensor fusion for the robot's reliability
Bouteraa, Yassine. "Commande distribuée et synchronisation de robots industriels coopératifs." Thesis, Orléans, 2012. http://www.theses.fr/2012ORLE2082/document.
This thesis investigates the issue of designing decentralized control laws to cooperatively control a team of robot manipulators. The purpose is to synchronize their movements while tracking common desired trajectory. Based on a combination of Lyapunov direct method and cross-coupling technique, To account for unmatched uncertainties, the proposed decentralized control laws are extended to an adaptive synchronization tracking controllers. Moreover, due to communication imperfection, time delay communication problems are considered in the performance analysis of the controllers. Another relevant problem for distributed synchronized systems is the leader-follower control problem. In this strategy, a decentralized control laws based on the backstepping scheme is proposed to deal with a leader-follower multiple robots structure. Based on graph theory, the coordination strategy combines the leader follower control with the decentralized control. The thesis, also considers the cooperative movement of under- actuated manipulators tracking reference trajectories defined by the user. The control problem for a network of class of under-actuated systems is considered. The approach we adopted in this thesis consists in decomposing the under-actuated manipulators into a cascade of passive subsystems that synchronize with he other neighbors subsystems. The resulting synchronized control law is basically a combination of non-regular backstepping procedure aided with some concepts from graph theory. The proposed controllers are validated numerically, assuming that the underlying communication graph is strongly connected. To implement these control strategies, we developed an experimental platform made of three robot manipulators
Asgari, Bagher. "Contribution à la prise en compte du comportement multi-technologique des robots industriels dans le contexte d'une architecture de commande décentralisée." Aix-Marseille 3, 1998. http://www.theses.fr/1998AIX30080.
Dubois, Michel. "MASL, Langage de controle multi-agents robotiques." Lorient, 2008. http://www.theses.fr/2008LORIS133.
The classical approach for Multi-Agent System (MAS) Control, especially autonomous and robotic ones, deals first from a microscopic point of view: each agent embed a control program with communication/synchronization primitives that enable cooperation between agents. The emergence of a global behaviour from a macroscopic point of view can only be observed afterwards. In this context, MASL offers a macroscopic and unified approach with heterogeneous and distributed calculations over deliberative, reactive or hybrid agents. In this high level language, regardless of the runtime, each concurrent agent locally decides its participation in a collective execution block named an e-block. Each e-block is an anonymous collective program that runs over an agent network following local conditions. The orchestral mode (scalar, asynchronous, synchronous) is statically fixed by a shared block attribute. The communication use shared memory, events, synchronous messages passing, and asynchronous messages passing. Heterogeneous agents are managed with heritage and polymorphism. Permeability mechanism, dealing with agent autonomy, allows an agent to dynamically filter calls to its interface in respects to the sender position in the e-block hierarchy. In dynamic task allocation of agents, auto failover and recovery, agent replacement in a robot fleet (case of agent failure, loss of a mandatory functionality for the mission) an e-block is an entry point of a collaborative work. In the case of synchronous e-block, the programming paradigm is the data parallel model with iterative task for waves of agents. Finally, MASL offers advances in the field of MAS (dynamic belonging to groups, accuracy of the pace of actions to undertake to enable a desired cooperation) and for the management of errors
Gil, Pinto Arturo. "Vers une architecture de commande pour des robots mobiles coopérants non holonomes." Phd thesis, Université Montpellier II - Sciences et Techniques du Languedoc, 2007. http://tel.archives-ouvertes.fr/tel-00193835.
Le, Van Tuan. "Coopération dans les systèmes multi-robots : contribution au maintien de la connectivité et à l’allocation dynamique de rôles." Caen, 2010. http://www.theses.fr/2010CAEN2043.
Given the complexity of the tasks to be undertaken by a multi-robot system, the approach most commonly adopted is to “divide and conquer”. It is to decompose the complex task into subtasks, then each of these sub-tasks into sub-sub-tasks. This process is repeated until we reach basic tasks that can be made by individual robots. This approach, although attractive at first glance, has the disadvantage of not always be easy to implement. Indeed, in the majority of existing work, the decomposition of a complex task into elementary tasks is performed in a rather ad hoc and dependent upon the target robot system. This is indeed a barrier to reuse the result of the decomposition – both software to the logic level with other robotic systems. In this thesis, we propose a solution that allows any collection of heteroge- neous robots to organize themselves into teams and sub-teams and this, accor- ding to both the requirements of the task at hand, robots available and resources. Our approach based on the decomposition of a complex task roles, separates the concerns of the design and implementation level. Thus, one logical solution may be (re)used on multi-robot systems with varying abilities. Once the task is decomposed into roles, we are facing a well-known, yet unresolved problem : the general problem of assignment of roles to robots effectively. Faced with this problem NP-hard, we propose heuristics based on the Contract-Net protocol to assign roles to the robots to form coalitions. Each coalition is composed of robots cooperating tightly to perform a single task. Assigning roles to robots, as well as the cooperation of the latter requires that the robots must be able to communicate frequently. As a result, the network connectivity of robots is a prerequisite for communication. We propose a novel solution to this problem based on our concept of “connectivity awareness”. It is about equipping each robot with an knowledge of the network structure. We show that a partial and local knowledge in each robot can be exploited for main- taining network connectivity in the robust distributed manner. Each robot can plan its own move locally without jeopardizing the overall network connectivity. Indeed, this local knowledge that is the connectivity awareness can be exploi- ted so that each robot can determine whether the global network connectivity is robust to the its own network connectivity failure or not
Meftouh, Fouad. "Système de commande temps-réel multi-agents." Toulouse, ENSAE, 1993. http://www.theses.fr/1993ESAE0029.
Abou, Moughlbay Amine. "Contributions à l'enchaînement des tâches et à la résolution de la redondance : application aux robots humanoïdes et multi-bras." Ecole centrale de Nantes, 2013. http://www.theses.fr/2013ECDN0009.
Redundancy is present in all the robotic platforms; it is either intrinsic and explicit in the robot’s mechanical architecture, or implicit and appears only when applying specific tasks. This thesis identifies and classifies the different types of redundancies; it also addresses their kinematic resolution when applying several simultaneous and prioritized tasks on a general redundant system. Multi-control points approach and redundancy resolution formalisms were developed and validated by the application of several industrial, service and assistive tasks on three different platforms: a multi-arm system for meat cutting and two humanoid robots (HRP-2 and Nao). Using various types of embedded and external vision sensors, several techniques were integrated into these robotic platforms to apply, in simulation and real-time, the desired scenarios (localization, grasping, navigation, visibility,. . . ) while taking into account the system constraints (collision, occlusion, joint limits avoidance,. . . )
Mendes, Filho José. "Online Distributed Motion Planning for Mobile Multi-robot Systems." Thesis, Institut polytechnique de Paris, 2019. http://www.theses.fr/2019IPPAE007.
Two main objectives for this thesis can be identified: - Develop a multi-robot system composed by autonomous mobile robots capable of performing complex tasks in a dynamic, partially known environment; - Ensure the safety of goods and a proper interaction human-robot in their shared work environment. To that purpose a 3 layer solution is proposed containing : - Control law - Motion planner - Task planner Each layer is validated firstly in simulation and secondly in a real experiment using mobile platforms such as TurtleBots. The found results will be analysed with respect to requirements derived from the objectives stated at the beginning
Defoort, Michael. "Contributions à la planification et à la commande pour les robots mobiles coopératifs." Phd thesis, Ecole Centrale de Lille, 2007. http://tel.archives-ouvertes.fr/tel-00196529.
Le premier chapitre est consacré à la présentation du contexte.
Le deuxième chapitre est dévolu au développement d'un algorithme de planification de trajectoire admissible pour un robot mobile suffisamment flexible pour pouvoir être étendu au cadre multi-robots.
Dans le troisième chapitre, deux mécanismes de coordination sont développés. Pour le premier, les conflits sont résolus via un superviseur. Le second permet la génération en ligne des trajectoires optimales de chaque robot de manière décentralisée à partir uniquement des informations disponibles.
Le quatrième chapitre concerne la commande par modes glissants d'ordre quelconque. L'efficacité de l'algorithme est mise en lumière à travers des résultats expérimentaux sur un moteur pas à pas.
Dans le cinquième chapitre, deux algorithmes de commande par modes glissants avec action intégrale sont synthétisés et implémentés sur le robot Pekee. Ces techniques assurent la stabilisation et/ou le suivi de trajectoire malgré la présence de perturbations et d'incertitudes.
Le dernier chapitre décrit un mécanisme décentralisé de coordination de type ``meneur/suiveur''. Il permet de s'affranchir de la connaissance de la position absolue de l'ensemble des robots et d'éviter les collisions entre robots. Enfin, nous présentons des résultats expérimentaux sur une flottille de trois robots Miabot.
Benzerrouk, Ahmed. "Architecture de contrôle hybride pour systèmes multi-robots mobiles." Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2011. http://tel.archives-ouvertes.fr/tel-00669559.
Tang, Zhiqi. "Commande référencée vision de drones aériens." Thesis, Université Côte d'Azur, 2021. http://www.theses.fr/2021COAZ4018.
This thesis proposes novel vision-based controllers for the guidance of Unmanned Aerial Vehicles (UAVs). It considers scenarios involving both single and multiple vehicles. For the case of a single-vehicle, novel Image-based visual servo control (IBVS) approaches are proposed for both fixed-wing and vertical take-off and landing (VTOL) UAVs operating in urban or congested environments. Navigation tasks in a complex environment with obstacle avoidance capabilities are considered. In particular, the landing of fixed-wing UAVs on an airstrip and the landing of VTOL-UAVs that includes an obstacle avoidance strategy are considered. The originality of the study lies in the direct exploitation of the centroid of the image of the observed pattern together with the optical flow, thereby eliminating the need to estimate the position and the velocity of the UAV.For multiple vehicles, novel bearing formation controllers are designed for formations under both directed and undirected interaction topologies. Optical flow is explored in the bearing formation control laws in order to achieve collision avoidance between different agents during the formation progression.In order to relax the classical conditions required by bearing rigidity theory and to lift the scale ambiguity caused by bearings, persistence of excitation of the desired bearing reference is explored. The proposed methodology is supported by rigorous mathematical tools (This involves nonlinear dynamical systems and analysis using Lyapunov theory to formally prove the asymptotic (or exponential) stability of the system, guarantee robustness, and finally ensure good performance of the closed-loop system). Further support is provided by real experiments and/or simulation results
Liu, Mingxing. "Personnage virtuel : contrôleur hybride couplant commande dynamique multi-objectifs et mouvements capturés." Phd thesis, Université Pierre et Marie Curie - Paris VI, 2012. http://tel.archives-ouvertes.fr/tel-00825375.
Zhao, Jin. "Contribution à la commande d'un train de véhicules intelligents." Phd thesis, Ecole Centrale de Lille, 2010. http://tel.archives-ouvertes.fr/tel-00586081.
Al-Dujaili, Ayad. "Fault diagnosis and fault tolerant control design for physically linked 2WD mobile robots systems." Thesis, Lille 1, 2018. http://www.theses.fr/2018LIL1I047/document.
In harsh environments resulting from natural disasters or industrial accidents, reducing human interventions by increasing robotic operations is desirable. The main challenges to be considered are not only that the robots should be able to go over long distances and operate for relatively long periods, but also make the global system tolerant to actuators’ failures. In this thesis, to overcome these challenges, systems composed of multi-linked two-wheel drive (2WD) mobile robots are considered. The objective of these multi-robot systems is to asymptotically track a reference trajectory, despite the presence of actuator faults. In this thesis, we design original Fault Tolerant Control (FTC) schemes. Some of them are passive methods, i.e. robust control laws to given failures, and other ones are active FTC which include a Fault Diagnosis (FD) algorithm (nonlinear adaptive observer) that detects, localizes and estimates the faults, and finally adapt the control actions to the faulty situations. Simulation results are presented all along the thesis to verify the validity of the proposed control algorithms and to show the performance of the FTC schemes
Ben, Saad Seifallah. "Conception d'un algorithme de coordination hybride de groupes de robots sous-marins communicants. Application : acquisition optique systématique et détaillée des fonds marins." Thesis, Brest, 2016. http://www.theses.fr/2016BRES0052/document.
In the underwater environment, the needs of data acquisition have significantly increased over the last decades. As electromagnetic waves show poor propagation in sea water, acoustical sensing is generally preferred. However, the emergence of small and low cost autonomous underwater vehicles (AUV) allow for rethinking the underwater use of optical sensors as their small coverage can be significantly improved by using a fleet of coordinated underwater robots.This paper presents a strategy to coordinate the group of robots in order to systematically survey the seabed to detect small objects or singularities. The proposed hybrid coordination strategy is defined by two main modes. The first mode relies on a swarm algorithm to organize the team in geometrical formation. In the second mode, the robot formation is maintained using a hierarchical coordination. A finite state machine controls the high level hybrid strategy by defining the appropriate coordination mode according to the evolution of the mission. Before sea validation, the behavior and the performance of the hybrid coordination strategy are first assessed in simulation. The control of individual robots relies on visual servoing, implemented with the OpenCV library, and the simulation tool is based on Blender software.The dynamics of the robots has been implemented in a realistic way in Blender by using the Bullet solver and the hydrodynamic coeficcients estimated on the actual robot. First results of the hybrid coordination strategy applied on a fleet of 3 AUV’s, show execution of a video acquisition task by a group of autonomous robots controlled by vision and coordinated by a hybrid strategy
Hattenberger, Gautier. "Vol en formation sans formation : contrôle et planification pour le vol en formation des avions sans pilote." Phd thesis, Université Paul Sabatier - Toulouse III, 2008. http://tel.archives-ouvertes.fr/tel-00353676.
Gao, Bo. "Contribution à la synthèse de commandes référencées vision 2D multi-critères." Phd thesis, Université Paul Sabatier - Toulouse III, 2006. http://tel.archives-ouvertes.fr/tel-00119789.
Schiano, Fabrizio. "Bearing-based localization and control for multiple quadrotor UAVs." Thesis, Rennes 1, 2018. http://www.theses.fr/2018REN1S009/document.
The aim of this Thesis is to give contributions to the state of the art on the collective behavior of a group of flying robots, specifically quadrotor UAVs, which can only rely on their onboard capabilities and not on a centralized system (e.g., Vicon or GPS) in order to safely navigate in the environment. We achieve this goal by giving a possible solution to the problems of formation control and localization from onboard sensing and local communication. We tackle these problems exploiting mainly concepts from algebraic graph theory and the so-called theory of rigidity. This allows us to solve these problems in a decentralized fashion, and propose decentralized algorithms able to also take into account some typical sensory limitations. The onboard capabilities we referred to above are represented by an onboard monocular camera and an inertial measurement unit (IMU) in addition to the capability of each robot to communicate (through RF) with some of its neighbors. This is due to the fact that an IMU and a camera represent a possible minimal, lightweight and inexpensive configuration for the autonomous localization and navigation of a quadrotor UAV
Pontes, José Pedro do Carmo. "A hybrid and adaptive approach to humanoid locomotion : blending rhythmic primitives and feet placement strategies." Thesis, Sorbonne université, 2019. http://www.theses.fr/2019SORUS083.
This thesis presents research developed towards adaptable and effective optimization of controllers for humanoid robots’ locomotion. It addresses this goal by combining features of humanoid locomotion and the impact of different environments in its dynamics, along with mathematical optimization and statistical analysis techniques. Controllers for the locomotion of bipedal robots often face challenges regarding their optimization towards different objectives and different environments. We propose an architecture that uses the information gathered in an optimization/exploration phase to adapt to a terrain with partially unknown characteristics. In the exploration phase virtual simulations are used to optimize the parameters of the controller in different terrains. The results of these optimizations are used to identify the unknown terrain characteristics, and these values are used to select the best parameters for this particular environment. The approach was tested in the simulations of an iCub robot on terrains with variable friction, and of the DARwIn-OP robot in ramps with varying slopes. This work brings contributions to the problem of choosing the values for the open parameters of biped locomotion controllers in various situations. Specific issues that are covered relate to: 1) establishing an optimization framework that can be applied to any controller with open parameters, and which results in both safe and well performing behaviors; 2) finding locomotion behaviors that are effective in multiple and distinct environments; 3) adapting the locomotion to environments with varying characteristics, modeled in previous optimizations
Isfoula, Fayrouz. "Une approche du suivi de consensus pour les systèmes multi-agents." Thesis, Poitiers, 2019. http://www.theses.fr/2019POIT2303.
An agent is an autonomous dynamics system that can coordinate with the environment as well as with other agents. A group of these autonomous agents working in coordination is called a Multi-agent system (MAS). A MAS has several advantages over single agent operation. The main objective of MAS is to achieve a complex goal which is hard to achieve by a single agent. In MAS, each agent shares its information (states) to the neighbors only to complete the task hence no centralized monitoring systems is required. We can define a multi-agent system as a network in which information is distributed. The interest of researchers in the study of distributed control and distributed coordination of autonomous agent networks is motivated by the fact that it has the ability to cope with the problems associated with centralized communication network and also allow the switching network topologies.The algorithms for distributed networks only use local information, and are robust to variations of network topology and can accommodate network with large size.One of the most studied problems in the field of MAS is the consensus, which can be defined as: for any initial conditions for all agent, what are the conditions that should hold in order that the agents agree on a common value asymptotically while only information is exchanged between neighboring agents.This thesis deals with the development of control law to achieve the consensus for fixed and switching topologies, with or without a leader (consensus tracking). It also investigates the problem of the quality of information in the network. In consensus tracking, the notion of perceptive leader is developed and a control law is proposed for a fixed and switching topology
Anggraeni, Pipit. "Consensus décentralisé de type meneur/suiveur pour une flotte de robots coopératifs soumis à des contraintes temporelles." Thesis, Valenciennes, 2019. http://www.theses.fr/2019VALE0012/document.
Nowadays, robots have become increasingly important to investigate hazardous and dangerous environments. A group of collaborating robots can often deal with tasks that are difficult, or even impossible, to be accomplished by a single robot. Multiple robots working in a cooperative manner is called as a Multi-Agent System (MAS). The interaction between agents to achieve a global task is a key in cooperative control. Cooperative control of MASs poses significant theoretical and practical challenges. One of the fundamental topics in cooperative control is the consensus where the objective is to design control protocols between agents to achieve a state agreement. This thesis improves the navigation scheme for MASs, while taking into account some practical constraints (robot model and temporal constraints) in the design of cooperative controllers for each agent, in a fully decentralized way. In this thesis, two directions are investigated. On one hand, the convergence rate is an important performance specification to design the controller for a dynamical system. As an important performance measure for the coordination control of MASs, fast convergence is always pursued to achieve better performance and robustness. Most of the existing consensus algorithms focus on asymptotic convergence, where the settling time is infinite. However, many applications require a high speed convergence generally characterized by a finite-time control strategy. Moreover, finite-time control allows some advantageous properties but the settling time depend on the initial states of agents. The objective here is to design a fixed-time leader-follower consensus protocol for MASs described in continuous-time. This problem is studied using the powerful theory of fixed-time stabilization, which guarantee that the settling time is upper bounded regardless to the initial conditions. Sliding mode controllers and sliding mode observers are designed for each agent to solve the fixed-time consensus tracking problem when the leader is dynamic. On the other hand, compared with continuous-time systems, consensus problem in a discrete-time framework is more suitable for practical applications due to the limitation of computational resources for each agent. Model Predictive Control (MPC) has the ability to handle control and state constraints for discrete-time systems. In this thesis, this method is applied to deal with the consensus problem in discrete-time by letting each agent to solve, at each step, a constrained optimal control problem involving only the state of neighboring agents. The tracking performances are also improved in this thesis by adding new terms in the classical MPC technique. The proposed controllers will be simulated and implemented on a team of multiple Mini-Lab Enova Robots using ROS (Robotic Operating System) which is an operating system for mobile robots. ROS provides not only standard operating system services but also high-level functionalities. In this thesis, some solutions corresponding to problem of connection between multiple mobile robots in a decentralized way for a wireless robotic network, of tuning of the sampling periods and control parameters are also discussed
Tran, Ngo Quoc Huy. "Planification de mouvement pour les systèmes dynamiques multi-agents dans un environnement variable." Thesis, Université Grenoble Alpes (ComUE), 2019. http://www.theses.fr/2019GREAT099.
This thesis proposes optimization-based control solutions for the motion planning of multi-agent dynamical systems operating in a variable environment (with static/mobile obstacles and time-varying environmental disturbances).Collision-free paths are planned for the agents through the combined use of set theory (particularly, bounded convex sets), non(-linear) Model Predictive Control (MPC), Potential Field (PF) and graph-based methods. The contributions build on the proposal of repulsive potential field constructions together with on-off barrier functions which describe and, respectively, activate/deactivate the collision-free conditions introduced in a distributed NMPC framework. These constructions are further used for connectivity maintenance conditions among the group of agents while ensuring the tracking of the a priori generated path. Furthermore, a nonlinear disturbance observer is integrated within the control scheme for environmental disturbance rejection.Finally, the results are validated in simulation through comparisons with mixed-integer approaches and over a benchmark for the safe navigation of Unmanned Surface Vehicles (USVs) in the Trondheim fjord, Norway, using real numerical data
Jin, Zhe Kun. "Système multi-agents appliqué à la navigation d'un robot mobile dans un environnement inconnu." Cachan, Ecole normale supérieure, 1997. http://www.theses.fr/1997DENS0008.
Ajwad, Syed Ali. "Distributed control of multi-agent systems under communication constraints : application to robotics." Thesis, Poitiers, 2020. http://www.theses.fr/2020POIT2264.
Multi-agent systems (MAS) have gained much popularity due to their vast range of applications. MAS is deployed to achieve more complex goals which could not be realized by a single agent alone. Communication and information exchange among the agents in a MAS is crucial to control its cooperative behavior. Agents share their information with their neighbors to reach a common objective, thus do not require any central monitoring unit. However, the communication among the agents is subject to various practical constraints. These constraints include irregular and asynchronous sampling periods and the availability of partial states only. Such constraints pose significant theoretical and practical challenges. In this thesis, we investigate two fundamental problems related to distributed cooperative control, namely consensus and formation control, of double-integrator MAS under these constraints. It is considered that each agent in the network can measure and transmit its position state only at nonuniform and asynchronous sampling instants. Moreover, the velocity and acceleration are not available. First, we study the problem of distributed control of leader-following consensus. A continuous-discrete time observer based leader-following algorithm is proposed. The observer estimates the position and velocity of the agent and its neighbor in continuous time from the available sampled position data. Then these estimated states are used for the computation of the control input. Both fixed and switching topology scenarios are discussed. Secondly, a consensus based distributed formation tracking protocol is designed to achieve both fixed and time-varying formation patterns. Collision avoidance problem is also studied in this thesis. An Artificial Potential Function (APF) based collision avoidance mechanism is incorporated with the formation tracking algorithm to prevent collisions between the agents while converging to a desired position. Finally, the proposed algorithms are applied on a multi-robot network, consisting of differential drive robots using Robot Operating System (ROS). A new scheme is proposed to deal with nonholonomic constraints of the robot. Efficiency of the designed algorithms and their effectiveness in real world applications are shown through both simulation and hardware results
Albaric, Jérome. "Commande d'une plate-forme multi manipulateurs mobiles non-holonomes par actions réflexes." Montpellier 2, 2002. http://www.theses.fr/2002MON20099.
Cadenat, Viviane. "Commande référencée multi-capteurs pour la navigation d'un robot mobile." Phd thesis, Université Paul Sabatier - Toulouse III, 1999. http://tel.archives-ouvertes.fr/tel-00132421.
Abroug, Neil. "Commande robuste multi-variable des systèmes de comanipulation." Thesis, Strasbourg, 2018. http://www.theses.fr/2018STRAD027/document.
At the dawn of the fourth industrial revolution, robotic comanipulation is a key technology as it combines the dexterity of the human operator with the power of the machine. This task sharing between human and machine, in an uncertain and previously unknown environment, brings a lot of intrinsic difficulties to the nature of this interaction. This problem has been intensively studied over the last two decades by various research teams, mostly on devices with a single degree of freedom and with strong hypotheses about the controller structure. In this thesis, we deal with the problem of robotic comanipulation through the scope of the structured Hoo control, a framework particularly adapted to multivariable systems and which can be extended to a certain class of non-linear systems – manipulating robots are part of it – through linear parameter varying (LPV) models. The performance and stability requirements specific to comanipulation systems are expressed in terms of Hoo constraints and sector bounds. The control objectives thus formalised are solved by non-smooth optimization in order to take advantage of the particular structures of the comanipulation robot controllers. The validity of the methodology is carried out by intensive simulations and experiments on real devices
Krupiński, Szymon. "Suivi des structures offshore par commande référencée vision et multi-capteurs." Thesis, Nice, 2014. http://www.theses.fr/2014NICE4051.
This thesis deals with a control system for a underwater autonomous vehicle given a two consequent tasks: following a linear object and stabilisation with respect to a planar target using an on-board camera. The proposed solution of this control problem takes advantage of a cascading nature of the system and divides it into a velocity pilot control and two visual servoing schemes. The serving controllers generate the reference velocity on the basis of visual information; line following is based on binormalized Pluecker coordinates of parallel lines corresponding to the pipe contours detected in the image, while the stabilisation relies on the planar homography matrix of observed object features, w.r.t. the image of the same object observed at the desired pose. The pilot, constructed on the full 6 d.o.f. nonlinear model of the AUV, assures that the vehicle’s linear and angular velocities converge to their respective setpoints. Both image servoing schemes are based on minimal assumptions and knowledge of the environment. Validation is provided by a high-fidelity 6 d.o.f. dynamics simulation coupled with a challenging 3D visual environment, which generates images for automatic processing and visual servoing. A custom simulator is built that consist of a Simulink model for dynamics simulation and the MORSE robot and sensor simulator, bound together by ROS message passing libraries. The OpenCV library is used for real-time image processing. Methods of visual data filtering are described. Thus generated experimental data is provided that confirms the desired properties of the control scheme presented earlier
Kermorgant, Olivier. "Fusion d'informations multi-capteurs en asservissement visuel." Phd thesis, Université Rennes 1, 2011. http://tel.archives-ouvertes.fr/tel-00747052.
Bicego, Davide. "Design and Control of Multi-Directional Thrust Multi-Rotor Aerial Vehicles with applications to Aerial Physical Interaction Tasks." Thesis, Toulouse, INSA, 2019. http://www.theses.fr/2019ISAT0025.
This thesis addresses the study of autonomous Aerial Vehicles (AVs) actively interacting with the surrounding environment, with particular attention to the development of modeling and design techniques, and suitable control strategies for these systems. Due to the intrinsic difficulty and the novelty associated with the study of these systems, new techniques are needed to: i) better describe the aerial vehicle dynamics and its actuation limits; ii) effectively design new aerial prototypes with particular properties of dexterity and resilience; iii) guarantee a stable control during contact-less operations despite the actuation limits; and iv) preserve the system stability also during the contact phase with the environment while guaranteeing the fulfillment of the sought manipulation task. This thesis explores new strategies to overcome, to a certain extent, the under-actuation problem of classical multi-rotor platforms, conceived with the propellers aligned towards a common direction. The goal of this thesis is to contribute to a wise growth of the preliminary theoretical results on multi-directional thrust aerial vehicles laid by the state of the art and, furthermore, to the development of more suitable real aerial robotic systems with enhanced manipulation means, tailored for aerial physical interaction tasks. This thesis takes place inside the context of the European H2020 AeroArms project, whose goal is to develop aerial robotic systems with advanced manipulation capabilities to be applied in industrial inspection and maintenance. Hence, also the technology transfer and the impact on the industry plays here an important role
Folio, David. "Stratégies de commande référencées multi-capteurs et gestion de la perte du signal visuel pour la navigation d’un robot mobile." Toulouse 3, 2007. http://www.theses.fr/2007TOU30253.
The recent sensors improvement gave rise to the sensor-based control which allows to perform various and accurate navigation tasks. This thesis aims at developing sensorbased control laws allowing a mobile robot to perform vision-based tasks amidst possibly occluding obstacles. Indeed,it is necessary to preserve not only the robot safety (ie. Noncollision) but also the visual features visibility. Thus,we have first proposed techniques able to fulfill simultaneously the two previously mentioned objectives. However,avoiding both collisions and occlusions often over-strained the robotic navigation task,reducing the range of realizable missions. This is the reason why we have developed a second approach which lets the visual features loss occurs if it is necessary for the task realization. Using the link between vision and motion,we have proposed different methods (analytical and numerical) to compute the visual signal as soon it becomes totally unavailable
Li, Zhongmou. "Theoretical developments and experimental evaluation of a novel collaborative multi-drones grasping and manipulation system Zof large objects." Thesis, Ecole centrale de Nantes, 2021. http://www.theses.fr/2021ECDN0019.
This thesis proposes a new concept of aerial manipulation robot named Flying Gripper that is intended to perform grasping, manipulating, and transporting of large objects autonomously. The Flying Gripper robot is composed of four quadrotors, four self-adaptive fingers and a body structure. The main contributions of these works are: (1) an original mechanical concept using multiple quadrotors to obtain full manipulability in SE(3) and taking advantage of their yaw rotations to actuate a self-adaptive and intrinsically safe grasping mechanism; (2) a wrench capability analysis method taking into account the equality and inequality constraints imposed by actuation limits, mechanical stops and equilibrium relations; (3) a model predictive controller to deal with unknown mass, inertia and center of mass due to the grasped object; (4) a Dynamic Control Allocation algorithm to distribute the control output in a way that guarantees the continuity of actuator's velocity, improves the energy efficiency and satisfies the robot mechanical limits.Numerical simulations and experimental tests have been carried out to validate the controller performances
Durand, Petiteville Adrien. "Navigation référencée multi-capteurs d'un robot mobile en environnement encombré." Phd thesis, Université Paul Sabatier - Toulouse III, 2012. http://tel.archives-ouvertes.fr/tel-00694329.
Bruyas, Arnaud. "Apport de la fabrication additive multi-matériaux pour la conception robotique." Thesis, Strasbourg, 2015. http://www.theses.fr/2015STRAD045/document.
Percutaneous interventional radiology permits the diagnosis or the treatment of cancer tissues thanks to the use of needles and imaging devices. Being minimally invasive, such procedures are beneficial for the patient, but for the radiologist, they are highly complex. In order to assist the physician and remotely control the needle, we propose in this work the design and the manufacturing of multi-material compliant devices by taking advantage of multi-material additive manufacturing. To perform the design of such device, we propose several solutions in terms of kinematics, actuation and sensing. In particular, we developed a new compliant joint, the HSC joint, as well as a new pneumatic actuator for needle insertion. In the end, we demonstrate in the thesis the contributions of multi-material additive manufacturing for medical robotics, by combining all those solutions into a single device that remotely controls both the orientation and the insertion of the needle
Parodi, Olivier. "Simulation hybride pour la coordination de véhicules hétérogènes au sein d'une flottille." Phd thesis, Université Montpellier II - Sciences et Techniques du Languedoc, 2008. http://tel.archives-ouvertes.fr/tel-00373347.
La complexité des architectures de contrôle d'une part et les difficultés soulevées par le choix de stratégies de contrôle multi-véhicules d'autre part, rendent nécessaires la création de nouveaux outils de simulation permettant de tester et valider lois de commande et architectures de contrôle tout en détectant les inconsistances préliminaires des scenarios envisagés. L'objet de cette thèse est donc l'étude d'un outil de simulation collaboratif appelé THETIS.
Il s'agit d'un simulateur conçu avant tout pour aborder les problèmes liés au contexte de la flottille. Il est multi-véhicules hétérogènes puisqu'il permet de simuler par exemple, un scenario dans lequel un AUV (Autonomous Underwater Vehicle) et un ASV (Autonomous Surface Vehicle) interviennent simultanément. Les véhicules peuvent communiquer entre eux au sein de la simulation et les contraintes liées au milieu de propagation (interférences, bande passante, atténuation...) d'une part et à l'utilisation de matériel spécifique (temps de réveil, conflit émission/réception...) d'autre part sont prises en compte. L'architecture du simulateur est ouverte pour faciliter l'intégration et la mise à disposition pour tous, du travail de modélisation des différentes équipes possédant des compétences propres, tout en favorisant la réutilisabilité et la modularité de ces modèles. La capacité du système proposé à réaliser des simulations Hardware-In-The-Loop permet de tester et valider le comportement temporel du contrôleur. Par ailleurs ce simulateur est distribué afin de pouvoir étendre dynamiquement la puissance de calcul nécessitée par l'augmentation du nombre de véhicules et/ou la complexification des modèles, tout en respectant les contraintes temps-réel et le découplage temporel entre la commande et l'évolution des modèles dynamiques.
THETIS est donc un des seuls outils à l'heure actuelle répondant aux contraintes liées au contexte de la simulation de robots marins en flottille. Nous présentons des tests préliminaires mettant en œuvre un AUV de classe Taipan (développée au LIRMM en France) d'une part et un ASV Charlie (développé par l'ISSIA en Italie) d'autre part qui possèdent des architectures de contrôle différentes, et démontrons ainsi la faisabilité et la validité de notre approche.