F. Vi, 9 ? TâchesTâches´Tâchesélémentaires obtenues pour Karma VI.2. Résultats obtenus en simulation 135

F. Vi, 10 ? Test en simulation : détection d'alarme par Karma Elaboration de plan avec tâches de synchronisations Undeuxì eme exemple de planification avec le couple PS/RS est présenté ici, dans le cadre du scénario COMETS : cet exemple met en jeu une synchronisation entre deux UAV. L'hélicoptère Marvin est déjà en vol, et attend pour une confirmation d'alarme de l'hélicoptère Heliv au point " lousa-fire " . Heliv doit décoller, faire des prises de vues dans un premier temps en solo pour confirmer l'alarme, puis, après synchronisation avec Marvin, réaliser un " monitoring

V. La-figure, On peut en particulier voir dans la tâche de haut niveau " combinée " pour réaliser un " monitoring " coordonné, un certain nombre de paramètres liésliés`liésà la synchronisation : 551 correspondàpond`pondà un identifiant arbitraire commun aux deux UAV pour mettre en relation les tâches de synchronisation . Les deux couples (20 21) représentent ensuite les identifiants des UAVémetteursUAV´UAVémetteurs et récepteurs des messages de synchronisation : les deux ensemblesétantensembles´ensemblesétant identiques, il s'agit d'un rendez-vous (ou d'une synchronisation totale), 11 décrit lesprobì emes de planification des missions respectives de Heliv et Marvin

F. Vi, 12 ? TâchesTâches´Tâchesélémentaires produites pour Heliv 138

V. Chapitre and . Résultats, 000000 -30.000000 40.000000) (LOC 20

C. Annexe, Exemple de référence : automates d'exécution

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