Une architecture de contrôle distribuée pour l'autonomie des robots

Arnaud Degroote 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
Abstract : For simple tasks in a controlled environment, the coordination of the internal processes of a robot is a relatively trivial task, often implemented in an ad-hoc basis. However, with the development of more complex robots that must operate in uncontrolled and dynamic environments, the robot must constantly reconfigure itself to adapt to the external conditions and its own goals. The definition of a control architecture to manage these reconfigurations becomes of paramount importance for the autonomy of such robots. In this work, we first study the di erent architectures proposed in the literature, and analyse the major issues that a control architecture must address. This analysis led us to propose a new architecture, decentralized, generic and reusable, integrating an artificial intelligence approach (use of logical reasoning, dynamic propagation of constraints) and a software engineering approach (programming by contract, agents). After a presentation of the concepts underlying this architecture and an in-depth description of its operation, we describe an implementation which is used to control of a ground robot for navigation, exploration and monitoring tasks. Results are presented and analyzed. In a second part, we focus on the modeling and verifiability of such a control architecture. After analyzing di erent solutions, we present a comprehensive model of the proposed architecture that uses linear logic. We then discuss the di erent possible approaches to assess the properties of reachability and safety within this model. Finally we discuss di erent ways to enrich this work. In particular, we discuss possible extensions to the control of a multiple cooperating robots, but also the need for stronger links between the control layer and the modeling.
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Submitted on : Wednesday, December 19, 2012 - 2:59:21 PM
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Arnaud Degroote. Une architecture de contrôle distribuée pour l'autonomie des robots. Robotique [cs.RO]. Institut National Polytechnique de Toulouse - INPT, 2012. Français. ⟨tel-00766861⟩

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