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Systèmes multi-robots aériens : architecture pour la planification, la supervision et la coopération

Abstract : Unmanned Aerial Vehicles (UAV) meet a growing interest in the robotics community. They provide a wide range of applications, but also introduce particular operational modalities. In this work, we are interested in multi-UAV systems : the joint operation of a number of UAVs requires to design a multi-robot architecture that can take into account both UAVs capabilities and UAVs constraints. A generic executive is provided aiming at interfacing the different possible configurations of decisional autonomy delegation in the system : it receives and processes plans generated either by a control center in charge of all the UAVs (low levels of autonomy), or by the individual decision-making capabilities of each UAV (high levels of autonomy). In the former case, we introduce a deliberative layer that gathers a symbolic planner / geometric refiners couple, and a model-based interaction manager.
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https://tel.archives-ouvertes.fr/tel-00011361
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Submitted on : Thursday, January 12, 2006 - 10:29:12 AM
Last modification on : Monday, October 19, 2020 - 11:11:01 AM
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  • HAL Id : tel-00011361, version 1

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Jérémi Gancet. Systèmes multi-robots aériens : architecture pour la planification, la supervision et la coopération. Automatique / Robotique. Institut National Polytechnique de Toulouse - INPT, 2005. Français. ⟨tel-00011361⟩

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