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Méthodologie de conception de système multi-robots : de la simulation à la démonstration

Abstract : Multi-robot System Design Methodology : from Simulation to Demonstration Multi-robot systems are complex but promising systems in many fields, the number of academic works in this field underlines the importance they will have in the future. However, while these promises are real, they have not yet been realized, as evidenced by the small number of multi-robot systems used in the industry. However, solutions exist to enable industrialists and academics to work together on this issue. We propose a state of the art and challenges associated with the design of multi-robot systems from an academic and industrial point of view. We then present three contributions for the design of these systems: a realization of a heterogeneous swarm as a practical case study in order to highlight the design obstacles. The modification of an autopilot and a simulator to make them compatible with the development of multi-robot systems. Demonstration of an evaluation tool based on the two previous contributions. Finally, we conclude on the scope of this work and future perspectives based on open source.
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Submitted on : Tuesday, November 5, 2019 - 10:24:32 AM
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  • HAL Id : tel-02347005, version 1


Pierre Kancir. Méthodologie de conception de système multi-robots : de la simulation à la démonstration. Automatique / Robotique. Université de Bretagne Sud, 2018. Français. ⟨NNT : 2018LORIS519⟩. ⟨tel-02347005⟩



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