Dissertations / Theses on the topic 'Convogli'
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Avanzini, Pierre. "Modélisation et commande d'un convoi de véhicules urbains par vision." Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2010. http://tel.archives-ouvertes.fr/tel-00683626.
Full textCardon-Hamet, Claudine. "Mille otages pour Auschwitz : les "45000"; le convoi du 6 juillet 1942 /." Paris : Ed. Graphein, 1997. http://swbplus.bsz-bw.de/bsz061176664inh.htm.
Full textBom, Jonathan. "Etude et mise en oeuvre d'un convoi de véhicules urbains avec accrochage immatériel." Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2006. http://tel.archives-ouvertes.fr/tel-00694007.
Full textJradi, Madeleine. "Approche réactive pour la conduite en convoi des véhicules autonomes : Modélisation et vérification." Phd thesis, Université de Technologie de Belfort-Montbeliard, 2013. http://tel.archives-ouvertes.fr/tel-01010896.
Full textEl, Zaher Madeleine. "Approche réactive pour la conduite en convoi des véhicules autonomes : Modélisation et vérification." Thesis, Belfort-Montbéliard, 2013. http://www.theses.fr/2013BELF0216/document.
Full textThis thesis places in the framework of Platoons, sets of autonomous vehicles that move together while keeping a spatial configuration, without any material coupling. Goals of the thesis are: first, the definition of a decision making approach for platoon systems. Second, the definition of a method for the verification of safety properties associated to the platoon system.The proposed decision making approach is decentralized and self-organized. Platoon vehicles are autonomous, they act based only on their perception capabilities. The configuration emerges as a result of the individual behavior of each of the platoon vehicle. The proposed approach can be applied to platoon with different configurations, and allows for dynamic change of configuration.The proposed verification method uses the model-checking technique. Model checking of complex system can lead to the combinatory explosion problem. To deal with this problem, we choose to use a compositional verification method. Compositional methods decompose system models into different components and associate to each component an auxiliary property. The global property can then be deduced from the set of all the auxiliary properties, by applying a compositional deduction rule. We define a deduction rule suitable for decentralised platoon systems. The deduction rule considers each vehicle as a component. It is applicable under the assumption that adding a new component to an instance of the system does not modify behavior of the instance. Two safety properties have been verified : collision avoidance
Akki, Mouhcine. "Commande de l'inter-distance dans un convoi de véhicules autonomes par l'imposition d'impédances virtuelles d'interaction." Thèse, Université du Québec à Trois-Rivières, 2010. http://depot-e.uqtr.ca/1250/1/030141472.pdf.
Full textCardon-Hamet, Claudine. "Politique des otages et déportation à Auschwitz : le convoi du 6 juillet 1942, dit des "45000"." Paris 8, 1995. http://www.theses.fr/1995PA081047.
Full textThe july 6th 1942 convoy was singular in nature, taking as it did more than one thousand communist hostages, fifty jews and some twenty common law prisoners from compiegne to auschwitz. This study is divided into two parts, with the date of the convoy linking the two. The opening chapters recount the setting up and development of the hostage system established by the german military commander in france, as from august 1941. In retaliation for attacks by communist armed groups, hitler demanded a large-scale execution of hostages, which he supplemented in april 1942 by an order to deport communist, jewish and "antisocial" hostages to the east. The purpose of the july 6th 1942 convoy was to remove the communist and antisocial hostages who had been herded together in compiegne by the german military authorities. The remaining chapters of part 1 show how these retaliatory deportations were prepared, and especially how the july 6th 1942 convoy was formed. A sipo-sd order specified that these deportees were to be put under nn prisoner regime in auschwitz. Part 2 begins with the story of how the "45. 000" were transferred to auschwitz and of the particular conditions of their entry into the camp system. Chapter 2 analyses why 85% of the members of this convoy died within 6 months of arriving, while chapter 3 discusses what the chances of survival were for these french political prisoners held in the main camp used to further the final solution. In december 1942, a french resistance group was set up among the survivors. Fron spring 1943 onwards, the severity of this regime in the main camp began to ease andthe "45. 000" benefited from a series of measures which all helped to improve their chances of survival - so much so that, by 1944, there were no more deaths among the "45. 000"
Dafflon, Baudoin. "Modèle multi-agent d'inspiration physique pour la prise de décision : Application à la conduite en convoi." Thesis, Belfort-Montbéliard, 2014. http://www.theses.fr/2014BELF0240/document.
Full textBaudoin Dafflon’s doctoral work is placed in the general frame of self-organised systems. This kind of systems bases on the hypothesis that their organizationcan be the result of the individual behaviour of each one of the autonomous and proactive component entities. This emergent organization satisfies the objectives entrusted to the self-organizing system. This thesis is mainly directed to application domains in which the self-organizing system is composed of intelligent, frequently mobile material devices places in a physical, uncertain environment. Case-studies made included in this Thesis belong to the vehicle platoon problem.This Thesis interests mainlyto the decision-making problem of the self organizing systems of this kind. This aspect is particularly important when the system evolves in an uncertain environment. Uncertainty can be the consequence of an imperfect knowledge of the environment or because of the occurrence of unpredictable events. In those situations the autonomous entities have to decide locally about the best action to be performed in order for the global organization to be maintained. Even if information exchange among autonomous entities is not excluded a-priori, this doctoral work has been done under the restriction of non-communication, in order to investigate the reach of completely de-centralised approaches.Among the contributions of this thesis we can mention the following. Firstly, the proposal of an architecture that separates decision making and control, thereby allowing a simpler integration of uncertainty-management. An example from the application domain (vehicle platoons) is obstacle avoidance. Secondly, this thesis introduces a hierarchy of multi-agent systems such that decision-making is also conceived as a self-organized process in a virtual agent’s world. The later is built from an abstraction process based on the perceptions produced by material agents. Lastly, this thesis proposes physics-inspired interaction mechanisms for virtual agents. Those interaction models based on phenomena such as attraction-repulsion forces or gas dynamics, allow for a computational decision making process based on the laws and properties of the adopted physical models.Doctoral work presented in this Thesis has been done in the framework of the ANR-VTT project
Veillard, Damien. "Etude et analyse des signaux d une centrale inertielle MEMS : application à la reconstruction du mouvement d un convoi ferroviaire." Thesis, Montpellier, 2016. http://www.theses.fr/2016MONTT311.
Full textThe precise location of a train on the rail network is vital information for traffic management and passenger safety. The European Train Control System (ETCS) features a single-axis accelerometer which measures the longitudinal acceleration of the train. This sensor is one of many sensors onboard providing a precise odometry. However, its measurement is corrupted by the projection of the gravity on the sensitive axis as a function of the inclination of the track. The purpose of this work is to increase the value of this sensor by developing a solution based on a complete inertial system in order to provide a reliable longitudinal acceleration. For this, a state estimator was developed based on an extended Kalman filter and the consideration of constraints on the state vector. The use of updating equation of the Kalman gain forces the state estimation to evolve in a constrained space. In addition, the observation vector has been increased with the information provided by a velocity estimator and a train attitude estimator. The velocity estimator uses a frequency analysis of the accelerometer measurements and the attitude estimator operates the frequency complementarity of gyro and accelerometer measurements, to estimate the roll and pitch angles. This information is then merged with the measurements of the IMU. Finally, experiments were carried out in Turkey on a train and the estimator's performance was validated by comparing the results with data from a high-performance inertial navigation system
Marquez-Gamez, David. "Vers une navigation visuelle en environnement dynamique inconnu : apprentissage et exécution de trajectoire avec détection et suivi d'objets mobiles." Phd thesis, INSA de Toulouse, 2012. http://tel.archives-ouvertes.fr/tel-00842378.
Full textChen, Bofei. "A multi-agent based cooperative control model applied to the management of vehicles-trains." Thesis, Bourgogne Franche-Comté, 2017. http://www.theses.fr/2017UBFCA002/document.
Full textThe use of individual vehicles is becoming more and more important in inner cities, leading to many side problems such as traffic jam, air pollution and accidents. Intelligent vehicles have been studied so as to overcome these problems. Some solutions provided by these works are already available to the general public market such as city safety systems, lane assists,... Many research works are focusing on finding suitable and acceptable solutions to these problems and dealing with traffic jam management. The proposal can tackle the traffic jam problem whether on system level or on individual vehicle providing better control and perception systems aimed at reducing time response and/or at increasing the road capacity.On the vehicle side, one promising solutions is vehicles platoons (vehicles-train) making possible a huge reduction of the longitudinal distance between vehicles and thus allowing an increase of roads capacity. Basically, two main trends can be found literature. On one side, global approaches are based on a common reference frame, generally tied to the vehicles playground, shared by all vehicles of the train. Then, each vehicle behaves according to this shared reference which can be either the trajectory of the first vehicle of the train or a reference trajectory built offline. On the other side, local approaches are based on vehicle local perception abilities. Some methods, based on classical control algorithms or physical-inspired and inter-vehicular interaction link, are developed.Despite numerous research works on this subject, which are focusing on individual vehicle control, few of them consider the platoon control solution on the system point of view. However, this system point of view is particularly important when several platoons have to share the road network and meet at critical nodes such as crossroads and roundabouts. This introduces new issues such as (1) how to organize vehicles and trains of vehicle, (2) the interactions between trains of vehicles and (3) the strategies of sharing the road infrastructure efficient, reliable and safe. Solving these problems will then allow considering vehicles-train solution as a good candidate for solving traffic flow issues at transportation system level.The goal of this thesis is to propose an approach, based on multi-agent paradigm, which aims at dealing with systems level issues focusing mainly on intersections between vehicles-trains of vehicles. Thus, we propose a cooperative control system which relies on multi-level decision processes aimed at dealing with the interaction of platoons at road network nodes. This cooperative control system allows both to maintain the coherence and the safety condition of each involved train of vehicles and to adapt each train components behavior so as to make train shared the road, and especially roundabouts and crossroads, efficiently (i.e. without stopping any vehicle). This cooperative control system is divided into three different levels. The global train state is managed at the train-level decision process based on the train level perceptions. The vehicle-level process makes the decision concerning each individual vehicle according to data provided by the train-level and to the interaction between vehicles. Finally, the motor-level process makes the link between the vehicle-level command and hardware level of vehicles. In this thesis, we focus on the train-level and vehicle-level. When encountering, trains exchange information such as one part of their perceptions.Besides the goal of having an efficient approach so as to enable several vehicles-trains to share the road infrastructure, we also strategies to transform the meetings of vehicles-trains at road nodes into reconfiguration spots where trains can reconfigure and recombine.The developed algorithm are tested in simulation so as to obtain proper evaluation of our proposal using suitable indicators
Márquez-Gámez, David Alberto. "Towards visual navigation in dynamic and unknown environment : trajectory learning and following, with detection and tracking of moving objects." Thesis, Toulouse, INSA, 2012. http://www.theses.fr/2012ISAT0050/document.
Full textThe global objective of these works concerns the navigation of autonomous robots on long routes in outdoor dynamic environments, more precisely on the development and the evaluation of advanced perception functions, embedded on vehicles moving in a convoy formation, on an a priori unknown route in urban or natural environments. Three issues are tackled: first several methods from the State of the Art have been integrated in order to cope with the visual mapping and the trajectory learning problems for a vehicle A equipped with a stereovision sensor, moving in a large-scale environment, assumed static. Then it is proposed two modes for the execution of this trajectory by a vehicle B equipped by a single camera: either a delayed mode, in which B loads initially all representations learnt by A, and executes alone the recorded trajectory, or a convoy mode, in which B follows A, which sends him by a communication link, the trajectory sections as soon as they are learnt. Finally, it has been considered changing and dynamic environments, dealing with the detection of events from images acquired on a dynamic vehicle: detection of changes (disappearances or appearances of static objects, typically cars parked in a urban environment), or detection of mobile objects (pedestrians or other vehicles)
Qian, Xiangjun. "Commande prédictive pour conduite autonome et coopérative." Thesis, Paris Sciences et Lettres (ComUE), 2016. http://www.theses.fr/2016PSLEM037/document.
Full textAutonomous driving has been gaining more and more attention in the last decades, thanks to its positive social-economic impacts including the enhancement of traffic efficiency and the reduction of road accidents. A number of research institutes and companies have tested autonomous vehicles in traffic, accumulating tens of millions of kilometers traveled in autonomous driving. With the vision of massive deployment of autonomous vehicles, researchers have also started to envision cooperative strategies among autonomous vehicles. This thesis deals with the control architecture design of individual autonomous vehicles and cooperative autonomous vehicles. Model Predictive Control (MPC), thanks to its efficiency and versatility, is chosen as the building block for various control architectures proposed in this thesis. In more detail, this thesis first presents a classical hierarchical control architecture for individual vehicle control that decomposes the controller into a motion planner and a tracking controller, both using nonlinear MPC. In a second step, we analyze the inability of the proposed planner in handling logical constraints raised from traffic rules and multiple maneuver variants, and propose a hybrid MPC based motion planner that solves this issue. We then consider the convoy control problem of autonomous vehicles in which multiple vehicles maintain a formation during autonomous driving. A hierarchical formation control architecture is proposed composing of a convoy supervisor and local MPC based vehicle controllers. Finally, we consider the problem of coordinating a group of autonomous vehicles at an intersection without traffic lights. A hierarchical architecture composed of an intersection controller and multiple local vehicle controllers is proposed to allow vehicles to cross the intersection smoothly and safely
Flores, Carlos. "Architecture de contrôle pour le car-following adaptatif et coopératif." Thesis, Paris Sciences et Lettres (ComUE), 2018. http://www.theses.fr/2018PSLEM048/document.
Full textRecent widespread adoption of vehicle automation and introduction of vehicle-to-vehicle connectivity has opened the doors for techniques as Cooperative Adaptive Cruise Control (CACC) and platooning, showing promising results in terms of traffic capacity and safety improvement, while reducing fuel consumption and CO_2 emissions. However, robustness and strict string stability, despite communication delays and string heterogeneity is still an on-going research field. This thesis deals with the design, study and validation of control systems for cooperative automated car-following, with the purpose of extending their benefits and encourage their employment, focusing on robustness and string stability, despite possible V2V communication delays and string heterogeneity. A feedforward/feedback hierarchical control structure is developed, which modularity is fundamental for the proposal of approaches that target different but complementary performance objectives. The architecture not only permits the adoption of a full speed range spacing policy that target multiple criteria, but can also be employed in a state machine-based CACC framework for urban environments with emergency braking and platoon re-joining capabilities in case of pedestrian interaction. Different feedback control design algorithms are presented for the gap-regulation, for which the fractional-order calculus is demonstrated to provide more accurate closed loop frequency responses and satisfy more demanding requirements. Desired performance is ensured in spite of string heterogeneity through the proposal of two feedforward methods : one based on predecessor-only topology, while the second includes the leader vehicle information on feedforward to gain tracking capabilities. Proposed control algorithms are validated through time and frequency-domain stability studies, simulation and real platforms experiments
Pollard, Evangeline. "Evaluation de situations dynamiques multicibles par fusion de données spatio-temporelles." Phd thesis, Grenoble INPG, 2010. http://tel.archives-ouvertes.fr/tel-00536071.
Full textKaisser, Florent. "Communications dans les réseaux fortement dynamiques." Phd thesis, Université Paris Sud - Paris XI, 2010. http://tel.archives-ouvertes.fr/tel-00512021.
Full textMohamed, Ahmed Mohamed Mahmoud. "Contrôle et commande d'une flotte de véhicules autonomes." Electronic Thesis or Diss., Aix-Marseille, 2021. http://www.theses.fr/2021AIXM0626.
Full textThe works of this thesis are focused on the control and command of a fleet of many vehicles (4 to 10 vehicles). A longitudinal control is proposed based on the decentralized global approach, for which the information of the leader and the predecessor are assumed to be available to compute the control law using a linearization control by inverse dynamics. This control concept allows to follow a reference speed imposed by the leading vehicle, while respecting a safety distance (variable and constant) to avoid collisions. The longitudinal control is coupled with the lateral control that uses a sliding mode approach to follow the leader's desired trajectory. In addition, different sliding mode observers are developed. These observers are intended to calculate the nonlinear dynamics in the controls of each vehicle. The fleet is treated secondly in the multi-lane trajectories (line configuration). Two control approaches are proposed to control the vehicles in the different lanes (three lanes: i, j and k). The vehicles are controlled in the first strategy to follow the speed of the leader. However, in the second approach, the desired speed of the leader is modified when a lateral movement is present in order to respect the fleet notion. The vehicles are also controlled to avoid obstacles and switch to the next lane by generating an obstacle avoidance trajectory that takes into account the safety distance between the vehicles and the obstacle, and between the vehicles themselves
ABBIATI, MICHELE. "L'ESERCITO ITALIANO E LA CONQUISTA DELLA CATALOGNA (1808-1811).UNO STUDIO DI MILITARY EFFECTIVENESS NELL'EUROPA NAPOLEONICA." Doctoral thesis, Università degli Studi di Milano, 2017. http://hdl.handle.net/2434/491761.
Full textThe Italian Army and the Conquest of Catalonia (1808-1811) A Study of Military Effectiveness in Napoleonic Europe Academic Fields and Disciplines SPS/03 – M-STO/02 The research has the purpose of reconstruct and evaluate the military effectiveness of the Italian Army existed under the reign of Napoleon I. Firstly through a statistic and strategic analysis of the development, and the following deployment, of the military institution of the Kingdom of Italy in the years of its existence (1805-14). Afterwards, a particularly significant case study was chosen, as the campaign of Catalonia (1808-11, in the context of the Peninsular War), in order to assess the operational and tactical contribution of the regiments sent by the Government of Milan and their integration in the overall military apparatus of the First Empire. The thesis wanted to respond to the lack of studies on the Italian army’s behavior in war and, at the same time, to introduce the methodology of the Military Effectiveness Studies (of British and American origin and, by now, enriched by a thirty-year old tradition) in the Italian historiography. The research is primarily based, besides the numerous memoirs of the Italian and French veterans, on the archive documentation of the Secrétairerie d’état impériale (Archives Nationales of Pierrefitte-sur-Seine, Paris), of the French Ministère de la Guerre (Service historique de la Défence, of Vincennes, Paris) and of the Italian Ministero della Guerra (Archivio di Stato di Milano). About the results, it has been verified how the Italian army has become a flexible and suitable instrument for Bonaparte, albeit in a context of substantial overall numerical marginality in comparison to the heterogeneous forces available to the Empire and its others satellites and allied states. Regarding the campaign of Catalonia, instead, it was possible to ascertain the fundamental contribution of the Italian regiments, in an operational and tactical perspective, for the success of the invasion. This was primarily due to the excellent general characteristics shown by the expeditionary force, but also to disciplinary and organizational peculiarities that have made the Italian corps suitable for particularly aggressive operations.
Nguyen, Tien Dat. "Vizualizace konceptů pomocí generování obrazu." Master's thesis, 2016. http://www.nusl.cz/ntk/nusl-346787.
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