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Motion planning of multi-robot system for airplane stripping

Abstract : This PHD is a part of a French project named AEROSTRIP, (a partnership between Pascal Institute,Sigma, SAPPI, and Air-France industries), it is funded by the French Government through the FUIProgram (20th call). The AEROSTRIP project aims at developing the first automated system thatecologically cleans the airplanes surfaces using a process of soft projection of ecological media onthe surface (corn). My PHD aims at optimizing the trajectory of the whole robotic systems in orderto optimally strip the airplane. Since a large surface can not be totally covered by a single robot base placement, repositioning of the robots is necessary to ensure a complete stripping of the surface. The goal in this work is to find the optimal number of robots with their optimal positions required to totally strip the air-plane. Once found, we search for the trajectories of the robots of the multi-robot system between those poses. Hence, we define a general framework to solve this problem having four main steps: the pre-processing step, the optimization algorithm step, the generation of the end-effector trajectories step and the robot scheduling, assignment and control step.In my thesis, I present two contributions in two different steps of the general framework: the pre-processing step, the optimization algorithm step. The computation of the robot workspace is required in the pre-processing step: we proposed Interval Analysis to find this workspace since it guarantees finding solutions in a reasonable computation time. Though, our first contribution is a new inclusion function that reduces the pessimism, the overestimation of the solution, which is the main disadvantage of Interval Analysis. The proposed inclusion function is assessed on some Constraints Satisfaction Problems and Constraints Optimization problems. Furthermore, we propose an hybrid optimization algorithm in order to find the optimal number of robots with their optimal poses: it is our second contribution in the optimization algorithm step. To assess our hybrid optimization algorithm, we test the algorithm on regular surfaces, such as a cylinder and a hemisphere, and on a complex surface: a car.
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Submitted on : Wednesday, September 11, 2019 - 6:05:09 PM
Last modification on : Friday, September 13, 2019 - 1:11:39 AM
Long-term archiving on: : Saturday, February 8, 2020 - 5:03:50 AM


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  • HAL Id : tel-02284448, version 1


Rawan Kalawoun. Motion planning of multi-robot system for airplane stripping. Robotics [cs.RO]. Université Clermont Auvergne, 2019. English. ⟨NNT : 2019CLFAC008⟩. ⟨tel-02284448⟩



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