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Habilitation à diriger des recherches

Robots autonomes : du concept au robot. Architectures, représentations et algorithmes

Abstract : This work aims at endowing the robot with a high level of flexibility and adaptability in presence of inaccuracies and uncertainties on its current state as well as on the task state. This has entailed the development of concepts and tools which allow the robot to plan its task and to monitor its execution. The first part concerns the elaboration of architectures in order to integrate decisional and functional components and to run deliberative processes at different levels of abstractions. We present a generic control architecture which provides a framework for implementing planning, time-bounded decision and reaction at different levels, from task-oriented closed loops to situation-driven decision and goal-driven plan generation. The second part involves the development of representations and algorithms for planning and plan interpretation for mission planning as well as for task planning. The presented contributions deal with mission planning taking into account temporal constraints and non-determinism, a novel approach to multi-robot cooperation, a new formulation of the manipulation planning problem as well as a motion planner for a mobile robot in presence of uncertainties. The last part reports on the effective integration of most of the presented capabilities into complete autonomous robots which serve as a highly demanding validation testbed as well as a source for future extensions.
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Habilitation à diriger des recherches
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https://tel.archives-ouvertes.fr/tel-00165562
Contributor : Emilie Marchand <>
Submitted on : Thursday, July 26, 2007 - 4:13:19 PM
Last modification on : Friday, January 10, 2020 - 9:08:09 PM
Long-term archiving on: : Monday, June 27, 2011 - 4:44:23 PM

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  • HAL Id : tel-00165562, version 1

Citation

Rachid Alami. Robots autonomes : du concept au robot. Architectures, représentations et algorithmes. Automatique / Robotique. Université Paul Sabatier - Toulouse III, 1996. ⟨tel-00165562⟩

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