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Contrôle d'exécution dans une architecture hiérarchisée pour systèmes autonomes

Abstract : There is an increasing need for advanced autonomy in complex embedded real-time systems such as robots, satellites, or UAVs. Still, this raises a major problem : on one side we have complex sys-tems - therefore, hard to validate - with little human intervention, on the other side these systems are used in domains where safety is critical. These two concerns seem to be contradictory. Indeed, how can we guaranty that an autonomous system, with high level decisional capabilities, will exhi-bit a proper behavior and will not jeopardize the mission ? How can we be sure that the satellite jets are not fired while fragile sensors are left unprotected (camera lens, ...) ? An answer to this problem may be to implement a high level planner that would only produce safe and valid plans. However, these planners do not have a complete model of all atomic actions and their consequences. Indeed tasks produced by planner are refined into executable tasks by a su-pervisor. As a consequence the planner do not have a full control on how its tasks are being exe-cuted. The work we present here integrate an on-line execution control component for hierarchical archi-tectures. We first describe the role of this program in this kind of architecture. Then we introduce the R2C, our controller based on synchronous hypothesis, and the tool used to generate this controller using symbolic model-checking techniques. We then discuss why it is important to take into account the decisional components in our controller to minimize the controller counter effects. We eventually illustrate our contribution with some experimental results produced and gathered on our robotics platforms. We then conclude and give some possible future work in this area.
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Submitted on : Thursday, February 2, 2006 - 8:57:44 AM
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  • HAL Id : tel-00011514, version 1

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Frédéric Py. Contrôle d'exécution dans une architecture hiérarchisée pour systèmes autonomes. Réseaux et télécommunications [cs.NI]. Université Paul Sabatier - Toulouse III, 2005. Français. ⟨tel-00011514⟩

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