Dissertations / Theses on the topic 'Robotique en essaim'
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Garnier, Simon. "Décisions collectives dans des systèmes d'intelligence en essaim." Toulouse 3, 2008. http://thesesups.ups-tlse.fr/386/.
Full textThrough an approach mixing ethology and robotics, experiments and simulations, we were interested in two self-organizing mechanisms used by two social insect species to collectively make decisions. Based on behavioural mimicry, these mechanisms most of the time lead individuals belonging to a group to reach a consensus. We studied in particular the influence of the physical structure of the environment on the final choice of the group. Our results shows that an asymmetry in the structure of the environment can be amplified by the underlying self-organizing process and therefore leads the group to select a particular alternative in most of the cases. As a consequence, taking into account the interaction between the behaviour of the group and the structure of the environment is of crucial importance during the study of animal societies and also during the design of artificial self-organized systems
Fersula, Jérémy. "Swarm Robotics : distributed Online Learning in the realm of Active Matter." Electronic Thesis or Diss., Sorbonne université, 2023. http://www.theses.fr/2023SORUS494.
Full textCPUs / GPUs, it becomes technically possible to develop small robots able to work in swarms of hundreds or thousands of units. When considering systems comprised of a large number of in- dependent robots in interaction, the individuality vanishes before the collective, and the global behavior of the ensemble has to emerge from local rules. Understanding the dynamics of large number of interacting units becomes a knowledge key to design controllable and efficient robotic swarms. This topic happens to be at the core of the field of active matter, in which the sys- tems of interest display collective effects emerging from physical interactions without computation. This thesis aims at using elements of active matter to design and understand robotic collectives, interacting both at the physical level and the software level through distributed learning algorithms. We start by studying experimentally the aggregation dynamics of a swarm of small vibrating robots performing phototaxis (i.e. search of light). The experiments are declined in different confi- gurations, either ad-hoc or implementing a distributed and online learning algorithm. This series of experiments act as a benchmark for the algorithm, showing its capabilities and limits in a real world situation. These experiments are further expanded by changing the outer shape of the robots, modifying the physical interactions by adding a force re-orientation response. This additional effect changes the global dynamics of the swarm, showing Morphological Computation at play. The new dynamics is understood through a physical model of self-alignment, allowing to extend the experimental work in sillico and hint for unseen global effects in swarms of re-orienting robots. Finally, we introduce a model of distributed learning through stochastic ODEs. This model is based on the exchange of internal degrees of freedom that couples to the dynamics of the particles, equivalents in the context of learning as a set of parameters and a controller. It shows similar results in simulation as the real-world experiments and opens up a way to a large-scale analysis of distributed and online learning dynamics
Fernández, Pérez Iñaki. "Distributed Embodied Evolutionary Adaptation of Behaviors in Swarms of Robotic Agents." Thesis, Université de Lorraine, 2017. http://www.theses.fr/2017LORR0300/document.
Full textRobot swarms are systems composed of a large number of rather simple robots. Due to the large number of units, these systems, have good properties concerning robustness and scalability, among others. However, it remains generally difficult to design controllers for such robotic systems, particularly due to the complexity of inter-robot interactions. Consequently, automatic approaches to synthesize behavior in robot swarms are a compelling alternative. In this thesis, we focus on online behavior adaptation in a swarm of robots using distributed Embodied Evolutionary Robotics (EER) methods. To this end, we provide three main contributions: (1) We investigate the influence of task-driven selection pressure in a swarm of robotic agents using a distributed EER approach. We evaluate the impact of a range of selection pressure strength on the performance of a distributed EER algorithm. The results show that the stronger the task-driven selection pressure, the better the performances obtained when addressing given tasks. (2) We investigate the evolution of collaborative behaviors in a swarm of robotic agents using a distributed EER approach. We perform a set of experiments for a swarm of robots to adapt to a collaborative item collection task that cannot be solved by a single robot. Our results show that the swarm learns to collaborate to solve the task using a distributed approach, and we identify some inefficiencies regarding learning to choose actions. (3) We propose and experimentally validate a completely distributed mechanism that allows to learn the structure and parameters of the robot neurocontrollers in a swarm using a distributed EER approach, which allows for the robot controllers to augment their expressivity. Our experiments show that our fully-decentralized mechanism leads to similar results as a mechanism that depends on global information
Ecoffet, Paul. "Evolution of cooperation with partner choice in collective adaptive systems." Electronic Thesis or Diss., Sorbonne université, 2021. http://www.theses.fr/2021SORUS091.
Full textThe evolution of cooperation is a paradox from an evolutionary point of view. Indeed, all individuals in the living world should be interested only in their own interests. Helping another individual is therefore a waste of time and resources. How can we explain that some individuals act in a cooperative way? This thesis focuses on the mechanism of reciprocity named partner choice that allows the evolution of cooperative behavior. However, the constraints necessary for the evolution of this mechanism are strong and rarely respected. This thesis aims at extending the knowledge of these constraints through simulations in complex and realistic environments. The first contribution of this thesis extends the pre-existing partner choice models by adding the constraint of resource availability in the environment. In this case, it is no longer only the population density, but also the wealth of the environment that influences partner choice. In our second contribution, we extend the results obtained by the aspatial models. We study the impact of spatial environments on the dynamics of cooperation with partner choice. Partner choice requires individuals to be able to learn from rare events. In our third contribution, we compare the reward sparsity tolerance of a reinforcement learning algorithm and an evolutionary strategy algorithm. Our work shows the immense difficulty that reinforcement learning algorithms have in developing partner choice, unlike evolutionary strategies
Abu-Aisheh, Razanne. "Context-Aware Information Gathering and Processing Towards Supporting Autonomous Systems in Industry 4.0 Scenarios." Electronic Thesis or Diss., Sorbonne université, 2023. http://www.theses.fr/2023SORUS022.
Full textIndustry 4.0 environments are characterized by the coexistence of a diverse set of devices, including sensors, mixed-reality displays, robots, drones, and smart objects. These systems must be capable of autonomously taking critical in-time decisions necessary to perform complex tasks without human input. One essential application for Industry 4.0 is multi-robot exploration and mapping of unknown environments, especially in critical missions such as hazard detection and search and rescue. These missions share the need to reach full coverage of the explorable space in the shortest time possible. To minimize completion time, robots in the fleet must be able to exchange information about the environment reliably with one another. However, existing exploration and mapping algorithms suffer from inaccuracies and inefficiencies due to their lack of contextual awareness of their surroundings, especially in terms of communications, lacking flexibility and adaptability to the environment, and hence, adding unnecessary delay to the mission at hand. In this thesis, we investigate the impact of communication awareness on the performance of multi-robot exploration and mapping expeditions, in terms of time to completion. We evaluate existing research in the field and demonstrate the impact of not considering communication impairments when designing such algorithms. From there, we propose Atlas, an exploration and mapping algorithm that natively takes packet loss into account, with a 100% completion ratio even with Packet Delivery Ratios (PDRs) as low as 0.1. However, Atlas on its own cannot handle scenarios where connectivity is completely lost. It also adds a significant delay to the completion of the mission, as lost packets keep getting re-transmitted periodically until they are received. One solution is relay placement. Most research on relay placement for multi-robot expeditions tend to fall into two categories. First, communication-aware relay placement based on initial Received Signal Strength Indicator (RSSI) is used. However, this requires running a full mission prior to the exploration to find the optimal position for the relays to be placed. Second, maintaining a distance (specified prior to the mission) between relays and exploration robots. These methods add to the time it takes to complete the mission. The research question becomes how can we place relays to maintain communication as reliable as possible, and also dynamically throughout the exploration mission without prior knowledge of the environment, in a way that reduces delay to the exploration and mapping time to completion. We solve this by proposing ``Connectivity Aware Relay Algorithm'' (CARA), a dynamic context-aware relay placement algorithm that does not require any prior knowledge of the environment. We developed an open-source simulator for multi-robot expeditions which we used to test both algorithms against state-of-the-art algorithms. Using both Atlas and CARA results in a dynamic context-aware multi-robot expedition that autonomously builds a map of a fully unknown environment, while dynamically placing relays when needed to maintain connectivity that outperforms state-of-the-art algorithms, in terms of time to completion, by a factor of 10
Gavrilovich, Irina. "Développement d'un système robotique pour des essais au sol du système de contrôle d'attitude et d'orbite d'un CubeSat." Thesis, Montpellier, 2016. http://www.theses.fr/2016MONTT329/document.
Full textAfter the launch of the first artificial Earth satellite in 1957, the evolution of various technologies has fostered the miniaturization of satellites. In 1999, the development of standardized modular satellites with masses limited to a few kilograms, called CubeSats, was initiated by a joint effort of California Polytechnic State University and Stanford University. Since then, CubeSats became a widespread and significant trend, due to a number of available off-the-shelf low cost components.In last years, the number of launched CubeSats constantly grows, but less than half of all CubeSat missions achieved their goals (either partly or completely). The analysis of these failures shows that the most evident cause is a lack of proper component-level and system-level CubeSat testing. An especially challenging task is Hardware-In-the-Loop (HIL) tests of the Attitude Determination and Control System (ADCS). A system devoted to these tests shall offer reliable simulations of the space environment and allow realistic CubeSat motions. The most relevant approach to provide a satellite with such test conditions consists in using air bearing platforms. However, the possible satellite motions are strictly constrained because of geometrical limitations, which are inherent in the air bearing platforms. Despite 15 years of CubeSat history, the list of the air bearing platforms suitable for CubeSat ADCS test is very limited.This thesis is devoted to the design and development of an air bearing testbed for CubeSat ADCS HIL testing. The main novelty of the proposed testbed design consists in using four air bearings instead of one and in utilizing a robotic arm, which allows potentially unconstrained CubeSat motions. Besides the testbed design principle, this thesis deals with the related issues of the determination of the CubeSat orientation by means of contactless measurements, and of the behavior of the air bearings, as well as with the need of a mass balancing method.In order to verify the feasibility of the proposed design, a prototype of the testbed is developed and tested. Several modifications aimed at simplifying the structure and at shortening the fabrication timeline have been made. For this reason, the Adept Viper s650 robot is involved in place of a custom-designed 4DoF robotic arm. A control strategy is proposed in order to provide the robot with a proper motion to follow the CubeSat orientation. Finally, the obtained results are presented and the overall assessment of the proposed testbed is put into perspective
Boutillier, Sophie. "Système productif et dépendance technologique : l'automatisation des petites et moyennes entreprises industrielles : essai basé sur des exemples américains, japonais et français." Paris 10, 1987. http://www.theses.fr/1987PA100136.
Full text3 notions are very important in this work: dependance, dynamics of inegalities and stratifical productive system. There is not equilibrium. There is not Schumpeterian entrepreneur. But there is a constant opposition between the agents who are inside the system. The small and medium businesses are an area of autonomy for the big enterprises
Degoulange, Eric. "Commande en effort d'un robot manipulateur à deux bras : application au contrôle de la déformation d'une chaîne cinématique fermée." Montpellier 2, 1993. http://www.theses.fr/1993MON20243.
Full textVoon, Lew Yan, and Lew Fock Chong. "Contribution au test intégré déterministe : structures de génération de vecteurs de test." Montpellier 2, 1992. http://www.theses.fr/1992MON20035.
Full textGay-Bellile, Vincent. "Contributions au recalage et à la reconstruction 3D de surfaces déformables." Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2008. http://tel.archives-ouvertes.fr/tel-00731045.
Full textArth, Kevin. "Neuromorphic sensory substitution with an asynchronous tactile belt for unsighted people : from design to clinical trials." Thesis, Sorbonne université, 2018. http://www.theses.fr/2018SORUS218.
Full textThis document presents the conception of the first neuromorphic tactile sensory substitution device, merging the domains of neuroprosthetics and sensory substitution.After a presentation of the state of art of the domains at the core of this work, we will introduce the device and present its chronological evolution and technical choices. We will then in a second stage introduce the validation studies that have been carried out to test the tactile neuromorphic device on blind and healthy control patients. The first study relies on psychophysical tests carried out to evaluate the link between spatial and temporal resolution of the developed device. The test relied on the ability of subjects to detect the direction of motion of a point sent on the tactile belt contacting the back of the subject. In the second study, the neuromorphic tactile system is coupled with an artificial silicon retina. A clinical trial is performed to study the performances of the developed device in a more complex environments using an incremental learning method. This study also evaluates the subjects’ feedback on the ergonomics of such an equipment. Ten visually impaired and five well-sighted subjects were selected. Subjects were able to detect objects in motion, discriminate the spacing between shapes, find a target in a scene with variable brightness, follow a signaled path on the ground and even avoid potential obstacles
Kai, Jean-Marie. "Contrôle automatique de véhicules aériens à voilure fixe." Thesis, Université Côte d'Azur (ComUE), 2018. http://www.theses.fr/2018AZUR4117/document.
Full textThe present thesis develops a new control approach for scale-model airplanes. The proposed control solutions exploit a simple but pertinent nonlinear model of aerodynamic forces acting on the aircraft. Nonlinear controllers are based on a hierarchical structure, and are derived on the basis of theoretical stability and convergence analyses. They are designed to operate on a large spectrum of operating conditions. In particular, they avoid the singularities associated with the parameterization of the attitude and the heading of the vehicle, and do not rely on a decoupling between longitudinal and lateral dynamics. First, the trajectory tracking problem is addressed by extending the thrust vectoring method used for small rotor vehicles to the case of fixed wing vehicles. In the case of airplanes, the main challenge is to take into account the aerodynamic forces in the design of control systems. In order to solve this problem, the proposed control is designed and analyzed on the basis of the proposed aerodynamic forces model. The flight envelope is thus broadened beyond trim trajectories which are classically used in the literature. This solution is then adapted to the path following problem, and kinematic guidance and dynamic control laws are developed within a single coherent framework that applies to almost any regular 3D path. The proposed control laws incorporate integral terms that robustify the control with respect to unmodelled dynamics. Several practical issues are addressed and the proposed control laws are validated via hardware-in-the-loop simulations. Finally, successful flight test results illustrate the soundness and performance of the proposed control laws
Cambier, Nicolas. "Bio-inspired collective exploration and cultural organisation." Thesis, Compiègne, 2019. http://www.theses.fr/2019COMP2511.
Full textAutomatically-controlled artificial systems have recently been used in numerous settings including environmental monitoring and explorations, with great success. In such cases, the use of multiple robots could increase efficiency, although we should ensure that their communication and organisation strategies are robust, exible, and scalable. These qualities can be ensured through decentralisation, redundancy (many/all robots perform the same task), local interaction, and simplistic rules, as is the case in swarm robotics. One of the key components of swarm robotics is local interaction or communication. The later has, so far, only been used for relatively simple tasks such as signalling a robot's preference or state. However, communication has more potential because the emergence of meaning, as it exists in human language, could allow robots swarms to tackle novel situations in ways that may not be a priori obvious to the experimenter. This is a necessary feature for having swarms that are fully autonomous, especially in unknown environments. In this thesis, we propose a framework for the emergence of meaningful communications in swarm robotics using language games as a communication protocol and probabilistic aggregation as a case study. Probabilistic aggregation can be a prerequisite to many other swarm behaviours but, unfortunately, it is extremely sensitive to experimental conditions, and thus requires specific parameter tuning for any setting such as population size or density.With our framework, we show that the concurrent execution of the naming game and of probabilistic aggregation leads, in certain conditions, to a new clustering and labelling behaviour that is controllable via the parameters of the aggregation controller. Pushing this interplay forward, we demonstrate that the social dynamics of the naming game can select efficient aggregation parameters through environmental pressure. This creates resilient controllers as the aggregation behaviour is dynamically evolved online according to the current environmental setting
Chatzilygeroudis, Konstantinos. "Micro-Data Reinforcement Learning for Adaptive Robots." Thesis, Université de Lorraine, 2018. http://www.theses.fr/2018LORR0276/document.
Full textRobots have to face the real world, in which trying something might take seconds, hours, or even days. Unfortunately, the current state-of-the-art reinforcement learning algorithms (e.g., deep reinforcement learning) require big interaction times to find effective policies. In this thesis, we explored approaches that tackle the challenge of learning by trial-and-error in a few minutes on physical robots. We call this challenge “micro-data reinforcement learning”. In our first contribution, we introduced a novel learning algorithm called “Reset-free Trial-and-Error” that allows complex robots to quickly recover from unknown circumstances (e.g., damages or different terrain) while completing their tasks and taking the environment into account; in particular, a physical damaged hexapod robot recovered most of its locomotion abilities in an environment with obstacles, and without any human intervention. In our second contribution, we introduced a novel model-based reinforcement learning algorithm, called Black-DROPS that: (1) does not impose any constraint on the reward function or the policy (they are treated as black-boxes), (2) is as data-efficient as the state-of-the-art algorithm for data-efficient RL in robotics, and (3) is as fast (or faster) than analytical approaches when several cores are available. We additionally proposed Multi-DEX, a model-based policy search approach, that takes inspiration from novelty-based ideas and effectively solved several sparse reward scenarios. In our third contribution, we introduced a new model learning procedure in Black-DROPS (we call it GP-MI) that leverages parameterized black-box priors to scale up to high-dimensional systems; for instance, it found high-performing walking policies for a physical damaged hexapod robot (48D state and 18D action space) in less than 1 minute of interaction time. Finally, in the last part of the thesis, we explored a few ideas on how to incorporate safety constraints, robustness and leverage multiple priors in Bayesian optimization in order to tackle the micro-data reinforcement learning challenge. Throughout this thesis, our goal was to design algorithms that work on physical robots, and not only in simulation. Consequently, all the proposed approaches have been evaluated on at least one physical robot. Overall, this thesis aimed at providing methods and algorithms that will allow physical robots to be more autonomous and be able to learn in a handful of trials
Karabagli, Bilal. "Vérification automatique des montages d'usinage par vision : application à la sécurisation de l'usinage." Phd thesis, Université Toulouse le Mirail - Toulouse II, 2013. http://tel.archives-ouvertes.fr/tel-01018079.
Full textLiu, Yuan. "Procédé Tactile à Diffraction Ultrasonore." Phd thesis, Ecole nationale supérieure d'arts et métiers - ENSAM, 2010. http://pastel.archives-ouvertes.fr/pastel-00552186.
Full textCardou, Philippe. "Conception d'accéléromètres multiaxiaux avec architectures simpliciales pour l'estimation de la pose et du visseur instantané d'un corps rigide." Phd thesis, 2008. http://tel.archives-ouvertes.fr/tel-00601152.
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