Modèles et algorithmes pour systèmes multirobots hétérogènes. Application à la patrouille et au suivi de cible

Cyril Robin 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
Abstract : Detecting, localizing or following targets is at the core of numerous robotic applications in industrial, civilian and military application contexts. Much work has been devoted in various research communities to planning for such problems, each community with a different standpoint. Our thesis first provides a unifying taxonomy to go beyond the frontiers of specific communities and specific problems, and to enlarge the scope of prior surveys. We review various work related to each class of problems identified in the taxonomy, highlighting the different approaches, models and results. This analysis specifically points out the lack of representativity of the exploited models, which are in vast majority only 2D single-layer models where motion and sensing are mixed up. We consider those unrealistic models as too restrictive to handle the full synergistic potential of an heterogeneous team of cooperative robots. In response to this statement, we suggest a new organisation of the necessary models, stating clearly the links and separation between models and planning algorithms. This has lead to the development of a C++ library that structures the available models and defines the requests required by the planning process. We then exploit this library through a set of algorithms tackling area patrolling and target tracking. These algorithms are supported by a sound formalism and we study the impact of the models on the observed performances, with an emphasis on the complexity and the quality of the resulting solutions. As a more general consideration, models are an essential link between Artificial Intelligence and applied Robotics : improving their expressiveness and studying them rigorously are the keys leading toward better robot behaviours and successful robotic missions. This thesis help to show how important the models are for planning and other decision processes for multi-robot missions.
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  • HAL Id : tel-02094404, version 2

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Cyril Robin. Modèles et algorithmes pour systèmes multirobots hétérogènes. Application à la patrouille et au suivi de cible. Robotique [cs.RO]. INSA Toulouse, 2015. Français. ⟨NNT : 2015ISAT0037⟩. ⟨tel-02094404v2⟩

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