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Contrôle d'exécution pour robots mobiles autonomes: architecture, spécification et validation

Abstract : The work presented in the thesis deals with problems concerning the execution control of autonomous mobile robots. The first part of the work presents the global control architecture and compares it to other approaches. We describe the hierarchical levels which it is composed of and each of their roles in the system's functioning. The lower level, composed of several modules, combines the perception, modelisation and action functions of the system. The second part presents the executive level. The executive must follow the execution of the functions, resolve the conflicts between modules, carry out certain reflex actions and maintain information concerning the use of the robot resources that cannot be shared. It can be seen as a group of automatons, that interact and change states according to the requests arriving from the higher level and the answers coming from the modules. The implementation of the executive uses the rule-based KHEOPS system. KHEOPS' compilation, using a set of in-going and out-going variables and the rules that bind them, produces an equivalent decision tree whose depth is known, which guarantees that the execution of the executive will be bounded in time. The compilation also guarantees certain logical characteristics of the automatons used. The third part presents the relations between the functional level (modules and executive) and the the level just above: the task level. This level is based on the PRS system, which transforms high abstraction-level tasks into action procedures that are recognised by the functional level, and supervises their execution. The thesis presents an equivalence between a PRS subset and coloured Petri nets, which enables checking at the task level, when the equivalence exists. To conclude, we present some results regarding the experimental implementation of this work with the Hilare 2 robot.
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Contributor : Emilie Marchand <>
Submitted on : Friday, September 2, 2005 - 3:17:10 PM
Last modification on : Friday, January 10, 2020 - 9:08:09 PM
Long-term archiving on: : Tuesday, September 7, 2010 - 5:11:14 PM


  • HAL Id : tel-00010029, version 1


Adelardo A.D. de Medeiros. Contrôle d'exécution pour robots mobiles autonomes: architecture, spécification et validation. Automatique / Robotique. Université Paul Sabatier - Toulouse III, 1997. Français. ⟨tel-00010029⟩



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