Дисертації з теми "Robots coopératifs"
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Lacroix, Philippe. "Contrôle décentralisé pour des systèmes multi-robots coopératifs." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1998. http://www.collectionscanada.ca/obj/s4/f2/dsk2/tape17/PQDD_0030/MQ38686.pdf.
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
Gantsou, Engoua Dhavy. "Communication interprocessus dans les systèmes coopératifs multi-robots : Mise en œuvre dans l'environnement lcoop." Valenciennes, 1990. https://ged.uphf.fr/nuxeo/site/esupversions/bafc973d-42b2-4fd8-a1c1-eebbedde48f8.
Tian, Daji. "Optimisation de la Cartographie et de la navigation des Robots Mobiles Coopératifs." Thesis, Ecole centrale de Lille, 2014. http://www.theses.fr/2014ECLI0016/document.
In this Ph. D., we will present firstly a single robot exploration method, then a decentralized cooperative exploration strategy for a team of mobile robots equipped with a range finders. A two dimensional map of the explored area is built in the form of a pixel figure. This is expanded by the robots by using a randomized local planner that authomatically realizes a decision between information gain and navigation cost. In our work, the map is reconstructed using a least-mean square method to reduce the errors of the sensor data. In dividing the overall task into subtasks, the intelligent controller allows reducing the robots task complexity. But the fusion of different behaviors with different objectives may cause contradiction in the procedure and alter the stability of the system. Therefore, the issue of behavior coordination mechanisms is crucial in order to realize the non-collision safety-ensured movements. A method integrated by behavior coordination and command fusion is proposed. A new approach with five basic behaviors for mobile robot navigation is discussed.Player/ Stage is an open-source software project for research in robotics and sensor systems. Its components include the Player network server and the Stage robot platform simulators providing a hardware abstraction layer to several popular robot platforms. Player is one of the most popular robot interfaces in research. We mainly use Player/Stage simulation to test our algorithms in mono-agent/multi-agent exploration, map reconstruction and robot navigation. Obtained results show that the proposed approaches are effective and can be applied in real robots
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.
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
Long, Philip. "Contributions to the modeling and control of cooperative manipulators." Ecole Centrale de Nantes, 2015. http://www.theses.fr/2014ECDN0024.
Pandey, Amit kumar. "Towards Socially Intelligent Robots in Human Centered Environment." Thesis, Toulouse, INSA, 2012. http://www.theses.fr/2012ISAT0032/document.
Robots will no longer be working isolated from us. They are entering into our day-to-day life to cooperate, assist, help, serve, learn, teach and play with us. In this context, it is important that because of the presence of robots, the human should not be on compromising side. To achieve this, beyond the basic safety requirements, robots should take into account various factors ranging from human’s effort, comfort, preferences, desire, to social norms, in their various planning and decision making strategies. They should behave, navigate, manipulate, interact and learn in a way, which is expected, accepted, and understandable by us, the human. This thesis begins by exploring and identifying the basic yet key ingredients of such socio-cognitive intelligence. Then we develop generic frameworks and concepts from HRI perspective to address these additional challenges, and to elevate the robots capabilities towards being socially intelligent
Hichri, Bassem. "Design and control of collaborative, cross and carry mobile robots : C3Bots." Thesis, Clermont-Ferrand 2, 2015. http://www.theses.fr/2015CLF22601/document.
Our goal in the proposed work is to design and control a group of similar mobile robots with a simple architecture, called m-bot. Several m-bots can grip a payload, in order to co-manipulate and transport it, whatever its shape and mass. The resulting robot is called a p-bot andis capable to solve the so-called "removal-man task" to transport a payload. Reconfiguring the p-bot by adjusting the number of m-bots allows to manipulate heavy objects and to manage objects with anyshape, particularly if they are larger than a single m-bot. Obstacle avoidance is addressed and mechanical stability of the p-bot and its payload is permanently guaranteed. A proposed kinematic architecture for a manipulation mechanism is studied. This mechanism allows to lift a payload and put it on them-bot body in order to be transported. The mobile platform has a free steering motion allowing the system maneuver in any direction. An optimal positioning of the m-bots around the payload ensures a successful task achievement without loss of stability for the overall system. The positioning algorithm respects the Force Closure Grasping (FCG) criterion which ensures the payload stability during the manipulation phase. It respects also the Static Stability Margin (SSM) criterion which guarantees the payload stability during the transport. Finally, it considers also the Restricted Areas (RA) that could not be reached by the robots to grab the payload. A predefined control law is then used to ensure the Target Reaching (TR) phase of each m-bot to its desired position around the payload and to track a Virtual Structure (VS), during the transportation phase, in which each elementary robot has to keep the desired position relative to the payload. Simulation results for an object of any shape, described by aparametric curve, are presented. Additional 3D simulation results with a multi-body dynamic software and experiments by manufactured prototypes validate our proposal
Gerval, Jean-Pierre. "Contribution à l'étude des systèmes coopératifs en robotique : LCOOP, Un langage de coopération." Valenciennes, 1987. https://ged.uphf.fr/nuxeo/site/esupversions/7c703658-6f55-4040-a7a2-bddc0be6e627.
Letendre, Jasmin. "Architecture de coopération multi-robots." Mémoire, Université de Sherbrooke, 2005. http://savoirs.usherbrooke.ca/handle/11143/1270.
Dieudonné, Yoann. "Coopération et placements de robots autonomes." Amiens, 2008. http://www.theses.fr/2008AMIE0111.
The main contributions of this thesis consist in the analysis of various problems of coordination of a cohort of mobile robots, and under conditions quite drastic. In particular, robots are supposed to be oblivious, autonomous, disoriented, homogeneous, without direct communication medium, and so on. All these assumptions makes our agents simple and rather "weak" in many aspects, hence they could seem unnecessarily exagerated, especially if we consider the state of the art in engineering technology. However by assuming the “weakest” agents, we can analyse in greater detail the strengths and weaknesses of distributed control. In other words, this approach allow us to highlight the set of agents’ capabilities that are necessary to accomplish a certain task. By adopting this approach, we first completely characterize the class of formable pattern by a cohort of such robots. Furthermore, we describe the necessary and sufficient conditions for the leader election problem; strangely conditions related to Combinatorics of words and especially Lyndon Words. Finally, we also show that the localization problem, to determine all the coordinates from a sparse set of measures, is NP-hard
Habib, Lydia. "Niveaux d'automatisation adaptables pour une coopération homme-robots." Thesis, Valenciennes, Université Polytechnique Hauts-de-France, 2019. http://www.theses.fr/2019UPHF0021.
We have witnessed a considerable interest in service robotics over the years. The robots are increasingly used to serve humans in various application fields. However, due to their limited capacity, the robots cannot meet all human expectations and the dynamic environment requirements. Robots and humans must therefore work as a team in a complementary way to benefit from each other’s skills while overcoming their weakness. In this research, we apply the principles of human-machine cooperation to define adaptable levels of automation to ensure human-robots cooperation. The human and the robot are represented with the same cognitive model characterizing their respective skills and abilities to perform a task but also to cooperate. The possible interactions between the human and the robot are identified at several abstraction levels of the task accomplishment. The issues of task and function allocation, as well as authority management, are identified and used to meet the cooperation requirements. In addition to the theoretical aspects, we have implemented human-robot systems with different levels of automation in two contexts: a system consisting of a human and two mobile robots for crisis management and a system composed of a human, a mobile robot and a control system via the human "thoughts" in the context of disability. Experimental studies are conducted with these two systems. These studies validated the proposed systems and then assessed the adaptation of levels of automation to support cooperation
Pham, Van Thiem. "Contrôle coopératif des systèmes multi-agents dans un réseau en cluster." Thesis, Reims, 2021. http://www.theses.fr/2021REIMS002.
Having multiple autonomous agents to work together efficiently to achieve collective group behaviors is usually referred to as cooperative control of multi-agent systems (MASs). Cooperative control of MASs has received compelling attention from various scientific communities, especially the systems and control community. An arise from the fact that agents in MASs are usually resource-limited, such as limited ranges of wireless communication (for exchanging information among agents), sensors (for measuring relative information between neighboring agents) and actuators (for driving the agents), as well as energy constraints related to long time interactions, an engineer should sometimes partition a large network into clusters. We first address the problem of consensus in the clustered network, where each node of the network graph represents an agent with linear dynamics. The cooperative behavior of linear MASs with general system dynamics in the clustered network is defined by not only the dynamical control protocols concerning the isolated clusters but also the discrete interactions among the leaders. This makes a consensus problem in the clustered network with general linear agents much more challenging than that of the integrator case. Thus, an impulsive observer-based control is proposed to handle the consensus problem. Next, we study the formation control problem in clustered network systems of linear agents that are subjected to state constraints. The continuous-time communication structure in each cluster is represented by a fixed and undirected graph. To do this, a robust formation protocol, which deals with the continuous-time communication inside clusters and discrete-time information exchange between clusters, is introduced. It is then shown that the considered robust formation control problem can be indirectly solved by studying the robust stability of an equivalent system based on matrix theory and algebraic graph theory. Moreover, it shows the important role of communication between leaders at some specific discrete instants, represented by the stochastic matrix. Finally, we discuss the output consensus problem in the clustered networks composed of heterogeneous MASs that are subjected to different disturbances. Each cluster is represented by a fixed and directed graph. A dynamic internal reference model for each agent is introduced, which takes into account the continuous-time communications among internal reference models in virtual clusters and discrete information exchanges between those virtual clusters. Therefore, the output consensus of heterogeneous agents is indirectly solved through the consensus of the virtual references. To achieve that, a hybrid consensus control protocol is proposed for the virtual clustered network. Thanks to results from matrix theory and algebraic graph theory, the consensus of the virtual clustered network is solved. A sufficient and necessary condition is derived for the output consensus of linear heterogeneous agents under different disturbances in the clustered network
LeBel, Philippe. "Développement d'un algorithme de cinématique d'interaction appliqué sur un bras robotique dans un contexte de coopération humain-robot." Master's thesis, Université Laval, 2019. http://hdl.handle.net/20.500.11794/34460.
Botelho, Silvia. "Une architecture décisionnelle pour la coopération multi-robots." Toulouse, INPT, 2000. http://www.theses.fr/2000INPT023H.
Robert, Frédéric. "Coopération multi-robots par insertion incrémentale de plans." Toulouse, INPT, 1996. http://www.theses.fr/1996INPT051H.
Rioux, Antoine. "Transport coopératif d'un objet par deux robots humanoïdes dans un environnement encombré." Mémoire, Université de Sherbrooke, 2016. http://hdl.handle.net/11143/9736.
Agostini, Yves. "Architecture coopérative pour la commande d'un fauteuil roulant robotisé." Metz, 1996. http://docnum.univ-lorraine.fr/public/UPV-M/Theses/1996/Agostini.Yves.SMZ9615.pdf.
The works described in this thesis relates to the software architecture developed for the VAHM robotized wheelchaire. It is aims at improving the mobility of people with disabilities by using techniques and methods coming from the field of mobile robotics. The optimization of the man-machine system is obtained by attaining a collaboration between the man operator and the machine. The architecture is based on the nature of processed data. It is composed of abstraction levels and distributed process controls. At each level man and machine can cooperate by providing help for action decision or information. Trials realised with the help of able people have allowed to evaluate communication and cooperation abilities of such an architecture
Pierre, Cyrille. "Localisation coopérative robuste de robots mobiles par mesure d’inter-distance." Thesis, Université Clermont Auvergne (2017-2020), 2020. http://www.theses.fr/2020CLFAC045.
There is an increasing number of applications in mobile robotics involving several robots able tocommunicate with each other to navigate cooperatively.The aim of this work is to exploit the communication and the detection of robots in order to achievecooperative localization.The perception tool used here rely on ultra-wideband technology, which allows to perfomprecise range measurements between two sensors.The approach we have developed focuses on the robustness and consistency of robot state estimation.It enables to take into account scenarios where the localization task is difficult to handle due tolimited data available.In that respect, our solution of cooperative localization by range measurements addresses twoimportant problematics: the correlation of data exchanged between robots and the non-linearity ofthe observation model.To solve these issues, we have choosed to develop a decentralized approach in which the cooperativeaspect is taken into account by a specific robot observation model.In this context, an observation corresponds to a range measurement with a beacon (that is, a robotor a static object) where the position is reprensented by a normal distribution. After several observations of the same beacon, the correlation between the robot state and thebeacon position increases.Our approach is based on the fusion method of the Split Covariance Intersection Filter in order toavoid the problem of over-convergence induced by data correlation.In addition, the robot state estimates are modeled by Gaussian mixtures allowing best representationof the distributions obtained after merging a range measurement.Our localization algorithm is also able to dynamically adjust the number of Gaussians of mixturemodels and can be reduced to a simple Gaussian filter when conditions are favorable.Our cooperative localization approach is studied using basic situations, highlighting importantcharacteristics of the algorithm.The manuscript ends with the presentation of three scenarios of cooperative localization implyingseveral robots and static objects.The first two take advantage of a realistic simulator able to simulate the physics of robots.The third is a real world experimentation using a platform for urban experimentation with vehicles.The aim of these scenarios is to show that our approach stay consistent in difficult situations
Clérentin, Arnaud. "Localisation d'un robot mobile par coopération multi-capteurs et suivi multi-cibles." Amiens, 2001. http://www.theses.fr/2001AMIE0023.
Lassoued, Khaoula. "Localisation de robots mobiles en coopération mutuelle par observation d'état distribuée." Thesis, Compiègne, 2016. http://www.theses.fr/2016COMP2289/document.
In this work, we study some cooperative localization issues for mobile robotic systems that interact with each other without using relative measurements (e.g. bearing and relative distances). The considered localization technologies are based on beacons or satellites that provide radio-navigation measurements. Such systems often lead to offsets between real and observed positions. These systematic offsets (i.e, biases) are often due to inaccurate beacon positions, or differences between the real electromagnetic waves propagation and the observation models. The impact of these biases on robots localization should not be neglected. Cooperation and data exchange (estimates of biases, estimates of positions and proprioceptive measurements) reduce significantly systematic errors. However, cooperative localization based on sharing estimates is subject to data incest problems (i.e, reuse of identical information in the fusion process) that often lead to over-convergence problems. When position information is used in a safety-critical context (e.g. close navigation of autonomous robots), one should check the consistency of the localization estimates. In this context, we aim at characterizing reliable confidence domains that contain robots positions with high reliability. Hence, set-membership methods are considered as efficient solutions. This kind of approach enables merging adequately the information even when it is reused several time. It also provides reliable domains. Moreover, the use of non-linear models does not require any linearization. The modeling of a cooperative system of nr robots with biased beacons measurements is firstly presented. Then, we perform an observability study. Two cases regarding the localization technology are considered. Observability conditions are identified and demonstrated. We then propose a set-membership method for cooperativelocalization. Cooperation is performed by sharing estimated positions, estimated biases and proprioceptive measurements. Sharing biases estimates allows to reduce the estimation error and the uncertainty of the robots positions. The algorithm feasibility is validated through simulation when the observations are beacons distance measurements with several robots. The cooperation provides better performance compared to a non-cooperative method. Afterwards, the cooperative algorithm based on set-membership method is tested using real data with two experimental vehicles. Finally, we compare the interval method performance with a sequential Bayesian approach based on covariance intersection. Experimental results indicate that the interval approach provides more accurate positions of the vehicles with smaller confidence domains that remain reliable. Indeed, the comparison is performed in terms of accuracy and uncertainty
Carlési, Nicolas. "Coopération entre véhicules sous-marins autonomes : une approche organisationnelle réactive multi-agent." Thesis, Montpellier 2, 2013. http://www.theses.fr/2013MON20092.
Underwater marine applications are nowadays branching into various fields covering larger and deeper zones. Performing the required tasks with the aid of AUV flotillas is a real challenge. However, the advantages of using such a new technology are numerous. Firstly, this would highly reduce the cost of the mission thanks to the distribution of this former among the various AUV: the loss of one AUV or its bad functioning will not degrade the performance of the flotilla in general. Secondly, the use of a flotilla reduces the execution time of a mission given the parallelization of certain tasks. Finally, any mission can be accomplished by the flotilla by taking into consideration the specificity of each AUV. In fact, each of these vehicles holds different characteristics rendering the global architecture heterogeneous and therefore applicable in different contexts. However, the methods concerned with multi-AUV cooperation are hindered by two main limitations: (1) the number of communications induced and (2) the management of the heterogeneity in the flotilla.The proposed approach aims at responding to these challenges. The principal idea is to combine this reactive cooperational approach with an organizational one. The reactive cooperational approach allows the exchange of simple communication signals. However, it does not help in solving the problems of cooperation that are very constrained and that mainly concern the spatial coordination of homogeneous vehicles. The first contribution in this thesis is the extension of the satisfaction-altruism approach. A new reactive decisional mechanism capable of considering the cooperative actions of various natures is proposed. The second contribution consists in specifying the context of reactive interactions based on an organizational approach. The organizational model Agent/Group/Role is used in order to have an explicit representation of the flotilla. The concepts of "group" and especially "role" are used in the attribution of the communication signals allowing the accomplishment of heterogeneous interactions with a big modularity. A new concept is therefore born and is integrated in a new software architecture called REMORA intended to equip autonomous underwater vehicles. This proposed new method has been validated through various numerical simulations in different scenarios putting at stake heterogeneous AUV
Peyroux, Catherine. "Produit complexe, système de production et stratégies de coopération : application aux constructeurs de robots." Montpellier 1, 1993. http://www.theses.fr/1993MON10025.
The aim of this study is to link the characteristics of a complex product, to the constraints of the manufacturing production system and the co-operative strategies. Based on an elaborate survey of the robotic manufacturers cases, the co-operations have been analysed according to the integration degree of the robotic product. This variable has been choosen as an indicator of the technological complexity of the product. Outstanding manufacturing network-systems have been spotted. This analysis corroborates the influence of the complex characteristics of the product on co-operative strategies and on the development of organisationnal networks
MuÑoz-Meléndez, Angélica. "Coopération située : une approche constructiviste de la conception de colonies de robots." Paris 6, 2003. http://www.theses.fr/2003PA066460.
Tarbouriech, Sonny. "Modélisation de la sécurité des tâches coopératives humain-robot." Mémoire, Université de Sherbrooke, 2016. http://hdl.handle.net/11143/8876.
Munzer, Thibaut. "Représentations relationnelles et apprentissage interactif pour l'apprentissage efficace du comportement coopératif." Thesis, Bordeaux, 2017. http://www.theses.fr/2017BORD0574/document.
This thesis presents new approaches toward efficient and intuitive high-level plan learning for cooperative robots. More specifically this work study Learning from Demonstration algorithm for relational domains. Using relational representation to model the world, simplify representing concurrentand cooperative behavior.We have first developed and studied the first algorithm for Inverse ReinforcementLearning in relational domains. We have then presented how one can use the RAP formalism to represent Cooperative Tasks involving a robot and a human operator. RAP is an extension of the Relational MDP framework that allows modeling concurrent activities. Using RAP allow us to represent both the human and the robot in the same process but also to model concurrent robot activities. Under this formalism, we have demonstrated that it is possible to learn behavior, as policy and as reward, of a cooperative team. Prior knowledge about the task can also be used to only learn preferences of the operator.We have shown that, using relational representation, it is possible to learn cooperative behaviors from a small number of demonstration. That these behaviors are robust to noise, can generalize to new states and can transfer to different domain (for example adding objects). We have also introduced an interactive training architecture that allows the system to make fewer mistakes while requiring less effort from the human operator. By estimating its confidence the robot is able to ask for instructions when the correct activity to dois unsure. Lastly, we have implemented these approaches on a real robot and showed their potential impact on an ecological scenario
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
Lallement, Alex. "Localisation d'un robot mobile par coopération entre vision monoculaire et télémétrie laser." Vandoeuvre-les-Nancy, INPL, 1999. http://www.theses.fr/1999INPL064N.
Gancet, Jérémi. "Systèmes multi-robots aériens : architecture pour la planification, la supervision et la coopération." Phd thesis, Institut National Polytechnique de Toulouse - INPT, 2005. http://tel.archives-ouvertes.fr/tel-00011361.
Djeghaba, Messaoud. "Problèmes de décision dans une cellule de production utilisant la coopération entre robots." Lille 1, 1986. http://www.theses.fr/1986LIL10010.
Simonin, Olivier. "Le modèle satisfaction-altruisme : coopération et résolution de conflits entre agents situés réactifs, application à la robotique." Montpellier 2, 2001. http://www.theses.fr/2001MON20209.
Renaudeau, Brice. "Robotique coopérative aéro-terrestre : Localisation et cartographie hétérogène." Thesis, Limoges, 2019. http://www.theses.fr/2019LIMO0012/document.
This work aims to study the problem of air-ground robotic cooperation for collaborative traversability mapping. The need for a map for navigation and path planning for terrestrial robots is no longer to be proven. The use of air-ground cooperation to create a navigable map for the ground robots has several interests. First, the drone can quickly map an area through its large field of vision and traveling capabilities. Second, the fusion of maps based on these two agents makes it possible to draw the best benefits from both points of views: the coherence of the global aerial view and the accuracy of the local ground view. To answer this problem, we propose a method that relies on the construction of a unified model of hybrid maps and their fusion.The maps are built using the skeleton of the traversability space as a support for graphs also containing local metric and potentialy semantic information of the environment. The maching of aerial and ground maps is done using a point to point correlation based on an appropriate dissimilarity measure. This measure is defined to meet invariance and discriminance criteria. The matching is then used to merge the maps into an augmented traversability map. The merged maps can be used by the ground robot to perform its mission. They also make it possible to deploy information such as GPS coordinates to robots in GPS denied environments. Experiments in virtual and real world environments have been carried out to validate this approach and map out future perspetives
Boumghar, Redouane. "Stratégies d'acquisition d'information pour la navigation autonome coopérative en environnement inconnu." Thesis, Toulouse, ISAE, 2013. http://www.theses.fr/2013ESAE0017.
The main difficulty of autonomous navigation of a mobile robot in a partially comes from the lack of information about the environment. One can not assure the calculated navigation path is as short and as safe as the path calculated if we had all the necessary information on the environment. Information is gathered along the moves of the mobile robot with a varying degree of certainty. This uncertainty come from the environment itself, the perception abilities and the localisation abilities of the robot. Only relevant information acquisitions can help a good execution of the navigation task.The proposed approach is realised in this context : it consists of a navigation strategy based on the determination of zones where information is necessary for the robot to rally its objective
Lherbier, Régis. "Étude d'une méthode de coopération entre capteurs pour la localisation dynamique d'un robot mobile." Compiègne, 1994. http://www.theses.fr/1994COMPD763.
Al, Sayed Souleiman Al Atassi Yosser. "Planification de trajectoires dans un environnement inconnu." Nancy 1, 1996. http://www.theses.fr/1996NAN10007.
Adouane, Lounis. "Architectures de contrôle comportementales et réactives pour la coopération d'un groupe de robots mobiles." Phd thesis, Université de Franche-Comté, 2005. http://tel.archives-ouvertes.fr/tel-00128160.
Ferrari, Fabio Valerio. "Cooperative POMDPs for human-Robot joint activities." Thesis, Normandie, 2017. http://www.theses.fr/2017NORMC257/document.
This thesis presents a novel method for ensuring cooperation between humans and robots in public spaces, under the constraint of human behavior uncertainty. The thesis introduces a hierarchical and flexible framework based on POMDPs. The framework partitions the overall joint activity into independent planning modules, each dealing with a specific aspect of the joint activity: either ensuring the human-robot cooperation, or proceeding with the task to achieve. The cooperation part can be solved independently from the task and executed as a finite state machine in order to contain online planning effort. In order to do so, we introduce a belief shift function and describe how to use it to transform a POMDP policy into an executable finite state machine.The developed framework has been implemented in a real application scenario as part of the COACHES project. The thesis describes the Escort mission used as testbed application and the details of implementation on the real robots. This scenario has as well been used to carry several experiments and to evaluate our contributions
Mealier, Anne-Laure. "Comment le langage impose-t-il la structure du sens : construal et narration." Thesis, Lyon, 2016. http://www.theses.fr/2016LYSE1333.
This thesis takes place in the context of the European project WYSIWYD (What You Say is What You Did). The goal of this project is to provide transparency in Human-robot interactions, including by mean of language. The deployment of companion and service robots requires that humans and robots can understand each other and communicate. Humans have developed an advanced coding of their behavior that provides the basis of transparency of most of their actions and their communication. Until now, the robots do not share this code of behavior and are not able to explain their own actions to humans. We know that in spoken language, there is a direct mapping between languages and meaning allowing a listener to focus attention on a specific aspect of an event. This is particularly true in language production. Moreover, visual perception allows the extraction of the aspects of "who did what to whom" in the understanding of social events. However, in the context of human interaction, other important aspects cannot be determined only from the visual image. The exchange of an object can be interpreted from the perspective of the giver or taker. This introduces the notion of construal that is how a person interprets the world and perceive a particular situation. The events are related in time, but there are causal and intentional connexion that cannot be seen only from a visual standpoint. An agent performs an action because he knows that this action satisfies the need for another person. This may not be directly visible in the visual scene. The language allows specifying this characteristic: "He gave you the book because you like it." The first point that we demonstrate in this work is how the language can be used to represent these construals. In response, we have developed a system in which a mental model represents an action event. This model is determined by the correspondence between two abstract vectors: the force vector exerted by the action and the result vector corresponding to the effect of the applied force. The application of an attentional process selects one of the two vectors, thus generating the construal of the event. The second point that we consider in this work is how the construction of narrative discourse can be learned with a narrative discourse model. This model is based on both existing neural networks of production and comprehension of sentences that we enrich with additional structures to represent a context of discourse. We present also how this model can be integrated into an overall cognitive system for understanding and generate new constructions of narrative discourse based on similar structure, but different arguments. For each of the works mentioned above, we show how these theoretical models are integrated into the development platform of the iCub humanoid robot. This thesis will explore two main mechanisms to enrich the meaning of events through language. The work is situated between computational neuroscience, with development of neural network models of comprehension and production of narrative discourse, and cognitive linguistics where to understand and explain the meaning according to joint attention is crucial
Yang, Yang. "Allocation optimale des tâches pour la coopération de deux robots dans une cellule flexible d'assemblage." Lille 1, 1988. http://www.theses.fr/1988LIL10001.
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.
Zieba, Stéphane. "Contribution à la résilience d'un système coopératif Homme-robot par une gestion de l'autonomie ajustable." Valenciennes, 2009. http://ged.univ-valenciennes.fr/nuxeo/site/esupversions/3f74c80f-6c02-4f77-94d1-1a55eea2030f.
These research works concerns the definition of a mode of human-machine interaction placing the human operator and the robot at the same decisional level and its contribution to the resilience of the system by the management of the adjustable autonomy. Resilience is the property of a system to recover or maintain a stable state continuous operation of the system despite the occurrence of disturbances. A definition of autonomy is proposed, which distinguishes semantic aspects (skills, capacities and prescriptions) for three levels of activity (achievement of a task, selection of an alternative, definition of an action plan). The formalism associated with this definition allows modelling the conditions for applying the forms of human-machine cooperation (augmentative, integrative and debative). Work then focus on the modelling of activity levels through the implementation of algorithms of decision making and planning methods based on hierarchical methods. These allow the decomposition of tasks and assigning agents to subtasks according to the criteria of resilience following: efficiency, adaptability, border-line functioning, interactions. The proposed model of cooperative control is assessed by an experimental protocol carried out on a micro-world that has been developed for this purpose. The analysis of results leads to an assessment of the resilience of the proposed solutions for the management of disruptions and their acceptance by the human operator. The proposed model is validated as well as the criteria for resilience that are properly perceived and assessed by the operators
Lallée, Stéphane. "Towards a distributed, embodied and computational theory of cooperative interaction." Thesis, Lyon 1, 2012. http://www.theses.fr/2012LYO10052/document.
Robots will gradually integrate our homes wielding the role of companions, humanoids ornot. In order to cope with this status they will have to adapt to the user, especially bylearning knowledge or skills from him that they may lack. In this context, their interactionshould be natural and evoke the same cooperative mechanisms that humans use. At thecore of those mechanisms is the concept of action: what is an action, how do humansrecognize them, how they produce or describe them? The modeling of aspects of thesefunctionalities will be the basis of this thesis and will allow the implementation of higherlevel cooperative mechanisms. One of these is the ability to handle “shared plans” whichallow two (or more) individuals to cooperate in order to reach a goal shared by all.Throughout the thesis I will attempt to make links between the human development ofthese capabilities, their neurophysiology, and their robotic implementation. As a result ofthis work, I will present a fundamental difference between the representation of knowledgein humans and machines, still in the framework of cooperative interaction: the possibledissociation of a robot body and its cognition, which is not easily imaginable for humans.This dissociation will lead me to explore the “shared experience framework, a situationwhere a central artificial cognition manages the shared knowledge of multiple beings, eachof them owning some kind of individuality. In the end this phenomenon will interrogate thevarious philosophies of mind by asking the question of the attribution of a mind to amachine and the consequences of such a possibility regarding the human mind
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
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
Ahmed, Bacha Adda Redouane. "Localisation multi-hypothèses pour l'aide à la conduite : conception d'un filtre "réactif-coopératif"." Thesis, Evry-Val d'Essonne, 2014. http://www.theses.fr/2014EVRY0051/document.
“ When we use information from one source,it's plagiarism;Wen we use information from many,it's information fusion ”This work presents an innovative collaborative data fusion approach for ego-vehicle localization. This approach called the Optimized Kalman Particle Swarm (OKPS) is a data fusion and an optimized filtering method. Data fusion is made using data from a low cost GPS, INS, Odometer and a Steering wheel angle encoder. This work proved that this approach is both more appropriate and more efficient for vehicle ego-localization in degraded sensors performance and highly nonlinear situations. The most widely used vehicle localization methods are the Bayesian approaches represented by the EKF and its variants (UKF, DD1, DD2). The Bayesian methods suffer from sensitivity to noises and instability for the highly non-linear cases. Proposed for covering the Bayesian methods limitations, the Multi-hypothesis (particle based) approaches are used for ego-vehicle localization. Inspired from monte-carlo simulation methods, the Particle Filter (PF) performances are strongly dependent on computational resources. Taking advantages of existing localization techniques and integrating metaheuristic optimization benefits, the OKPS is designed to deal with vehicles high nonlinear dynamic, data noises and real time requirement. For ego-vehicle localization, especially for highly dynamic on-road maneuvers, a filter needs to be robust and reactive at the same time. The OKPS filter is a new cooperative-reactive localization algorithm inspired by dynamic Particle Swarm Optimization (PSO) metaheuristic methods. It combines advantages of the PSO and two other filters: The Particle Filter (PF) and the Extended Kalman filter (EKF). The OKPS is tested using real data collected using a vehicle equipped with embedded sensors. Its performances are tested in comparison with the EKF, the PF and the Swarm Particle Filter (SPF). The SPF is an interesting particle based hybrid filter combining PSO and particle filtering advantages; It represents the first step of the OKPS development. The results show the efficiency of the OKPS for a high dynamic driving scenario with damaged and low quality GPS data
Drocourt, Cyril. "Localisation et modélisation de l'environnement d'un robot mobile par coopération de deux capteurs omnidirectionnels." Compiègne, 2002. http://www.theses.fr/2002COMP1385.
Kancir, Pierre. "Méthodologie de conception de système multi-robots : de la simulation à la démonstration." Thesis, Lorient, 2018. http://www.theses.fr/2018LORIS519/document.
Multi-robot System Design Methodology : from Simulation to Demonstration Multi-robot systems are complex but promising systems in many fields, the number of academic works in this field underlines the importance they will have in the future. However, while these promises are real, they have not yet been realized, as evidenced by the small number of multi-robot systems used in the industry. However, solutions exist to enable industrialists and academics to work together on this issue. We propose a state of the art and challenges associated with the design of multi-robot systems from an academic and industrial point of view. We then present three contributions for the design of these systems: a realization of a heterogeneous swarm as a practical case study in order to highlight the design obstacles. The modification of an autopilot and a simulator to make them compatible with the development of multi-robot systems. Demonstration of an evaluation tool based on the two previous contributions. Finally, we conclude on the scope of this work and future perspectives based on open source
Lozenguez, Guillaume. "Stratégie coopérative pour la mise en œuvre d'une flotte de robots mobiles dans un milieu ouvert et encombré." Caen, 2012. http://www.theses.fr/2012CAEN2050.
The work presented in this thesis aims to implement a fleet of robots to explore an open and crowded environment. The objective is to propose strategies allowing the robots to be autonomous in the calculation of decentralized policies and in the implementation of their tasks. The expected solution should allow each robot to act without being affected by any loss of communication. A set of points to visit should be allocated between the robots whenever it is necessary and communication is possible. As a first step, we proposed an architecture based on a topological representation of the environment to generate maps of low density. The aim is to reduce planification calculation costs by reducing the useful information and ensure that the assumptions respect the structural capacities of the robots in a real environment. The second contribution proposes an aproximate solution that helps in solving, during a mission, a problem that is similar to a stochastic traveling salesman. The solution is to decompose a multi-goal Markov decision process to overcome the limitation of the number of considered goals. Finally, distributing the resolution over several robots requires defining protocols to quickly allocate the set of goals. The proposed solution converges rapidly through successive simultaneous rounds of auctions based on an individual assessment of correlated preferences on the objectives. The experiments aim to evaluate statistically the quality of the solutions produced and the ability to deal, online, with problems of real size. These experiments are used to validate the proposed approaches in multi-robot frameworks
Clot, Robert. "Coopération robot - préhension - vision pour la manipulation des pièces souples : application à l'industrie du cuir." Lyon, INSA, 1991. http://www.theses.fr/1991ISAL0026.
Automation gradually supersedes conventional manual Processing in footwear and apparel manufacture. Automated handing of pieces corresponds to an increasing need. These pieces are flat, supple, porous and thin. At the present time, the supply of systems able to fulfill efficiently these requirements remains too limited. When handling is to be coupled with press cutting, the manipulation is closely linked to the study of a vision system. The pieces should be localised and identified, in order to determine the positionning and configuration of the prehension head. The vision, recognition, prehension and sorting system developped corresponds to these requirements. The main innovation concerns sorting, prehension and the interaction vision/prehension. The choice of the identification parameters has been adapted to the leather pieces constituting shoe uppers. The prehension head required an important developpement work : the matrix concept has been devel opped and led to three applications. In an experimental configuration, the pieces are picked up from a conveyor belt ; this pilot has demonstrated that the vision and the recognition systems are both satisfactory