Dissertations / Theses on the topic 'Systèmes de transport intelligent – Informatique'
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Gherbi, Elies. "Apprentissage automatique pour la détection d'intrusion dans les systèmes du transport intelligent." Electronic Thesis or Diss., université Paris-Saclay, 2021. http://www.theses.fr/2021UPASG037.
Despite all the different technological innovations and advances in the automotive field, autonomous vehicles are still in the testing phase. Many actors are working on several improvements in many domains to make autonomous cars the safest option. One of the important dimensions is cybersecurity. Autonomous vehicles will be prone to cyberattacks, and criminals might be motivated to hack into the vehicles' operating systems, steal essential passenger data, or disrupt its operation and jeopardize the passenger's safety. Thus, cybersecurity remains one of the biggest obstacles to overcome to ensure vehicles safety and the contribution that this technology can bring to society. Indeed, the actual and future design and implementation of Autonomous Vehicles imply many communication interfaces, In-vehicle communication of the embedded system, Vehicle-to-X (V2X) communications between the vehicle and other connected vehicles and structures on the roads. Even though the cybersecurity aspect is incorporated by design, meaning that the system needs to satisfy security standards (anti-virus, firewall, etc.), we cannot ensure that all possible breaches are covered. The Intrusion Detection System (IDS) has been introduced in the IT world to assess the state of the network and detect if a violation occurs. Many experiences and the history of IT have inspired the cybersecurity for autonomous vehicles. Nevertheless, autonomous vehicles exhibit their own needs and constraints. The current state of vehicles evolution has been made possible through successive innovations in many industrial and research fields. Artificial Intelligence (AI) is one of them. It enables learning and implementing the most fundamental self-driving tasks. This thesis aims to develop an intelligent invehicle Intrusion detection system (IDS) using machine learning (ml) from an automotive perspective, to assess and evaluate the impact of machine learning on enhancing the security of future vehicle intrusion detection system that fits in-vehicle computational constraints. Future In-vehicle network architecture is composed of different subsystems formed of other ECUs (Electronic Controller Units). Each subsystem is vehicles. Our primary focus is on In-vehicle communication security. We conduct an empirical investigation to determine the underlying needs and constraints that in-vehicle systems require. First, we review the deep learning literature for anomaly detection and studies on autonomous vehicle intrusion detection systems using deep learning. We notice many works on in-vehicle intrusion detection systems, but not all of them consider the constraints of autonomous vehicle systems. We conduct an empirical investigation to determine the underlying needs and constraints that in-vehicle systems require. We review the deep learning literature for anomaly detection, and there is a lack of tailored study on autonomous vehicle intrusion detection systems using Deep Learning (DL). In such applications, the data is unbalanced: the rate of normal examples is much higher than the anomalous examples. The emergence of generative adversarial networks (GANs) has recently brought new algorithms for anomaly detection. We develop an adversarial approach for anomaly detection based on an Encoding adversarial network (EAN). Considering the behaviour and the lightweight nature of in-vehicle networks, we show that EAN remains robust to the increase of normal examples modalities, and only a sub-part of the neural network is used for the detection phase. Controller Area Network (CAN) is one of the mostused vehicle bus standards designed to allow microcontrollers and devices to communicate. We propose a Deep CAN intrusion detection system framework. We introduce a Multi-Variate Time Series representation for asynchronous CAN data. We show that this representation enhances the temporal modelling of deep learning architectures for anomaly detection
Bonnefoi, Fabien. "Vérification formelle des spécifications de systèmes complexes par réseaux de Petri : application aux systèmes de transport intelligents." Paris 6, 2010. http://www.theses.fr/2010PA066616.
Dumortier, Yann. "Perception monoculaire de l'environnement pour les systèmes de transport intelligents." Phd thesis, École Nationale Supérieure des Mines de Paris, 2009. http://pastel.archives-ouvertes.fr/pastel-00005607.
Kamel, Joseph. "Misbehavior detection for cooperative intelligent transport systems (C-ITS)." Electronic Thesis or Diss., Institut polytechnique de Paris, 2020. http://www.theses.fr/2020IPPAT024.
Cooperative Intelligent Transport Systems (C-ITS) is an upcoming technology that will change our driving experience in the near future. In such systems, vehicles cooperate by exchanging Vehicle-to-X communication (V2X) messages over the vehicular network. Safety applications use the data in these messages to detect and avoid dangerous situations on time. Therefore, it is crucial that the data in V2X messages is secure and accurate.In the current C-ITS system, the messages are signed with digital keys to ensure authenticity. However, authentication does not ensure the correctness of the data. A genuine vehicle could have a faulty sensor and therefore send inaccurate information. An attacker could also obtain legitimate keys by hacking into the on-board unit of his vehicle and therefore transmit signed malicious messages.Misbehavior Detection in C-ITS is an active research topic aimed at ensuring the correctness of the exchanged V2X messages. It consists of monitoring data semantics of the exchanged messages to detect and identify potential misbehaving entities. The detection process is divided into multiple steps. Local detection consists of first performing plausibility and consistency checks on the received V2X messages. The results of these checks are then fused using a local detection application. The application is able to identify various V2X anomalies. If an anomaly is detected, the vehicle will collect the needed evidence and create a misbehavior report. This report is then sent to a cloud based misbehavior authority.This authority has a goal of ensuring the correct operation of the C-ITS system and mitigating the effects of attacks. It will first collect the misbehavior reports from vehicles and would then investigate the event and decide on the suitable reaction.In this thesis, we evaluate and contribute to the local, reporting and global steps of the misbehavior detection process
Xu, Jin. "Un modèle multi-agent distribué et hybride pour la planification du transport à la demande temps réel." Phd thesis, INSA de Rouen, 2008. http://tel.archives-ouvertes.fr/tel-00558769.
Brun, Xavier. "Modélisation 3D texturée en temps réel d'environnements urbains et routiers, et application au calcul de distance de visibilité routière." Paris, ENMP, 2007. http://www.theses.fr/2007ENMP1490.
Boussard, Clément. "Estimations embarquées de conditions de risque : adhérence et visibilité." Paris, ENMP, 2007. http://www.theses.fr/2007ENMP1524.
In the past our cars were moving. In the future, they will converse through V2V communication (Vehicle to Vehicle): the cars exchange data such as position and speed. The onboard computer can also record information from the car - rain sensors, brightness, but also ESP, ABS -, and give birth to an information network where that information is collected by an infrastructure able to analyse it. This is the V2I communication (Vehicle to Infrastructure). The greater the number of vehicles that detect information - such as the presence of fog-, the higher the probability of fog, and the faster the infrastructure can inform drivers approaching the area where is the fog. In this context, we are interested in onboard risky condition estimation caused by climatic factors. Climate can create conditions of hazards such as snow, Rain, fog. . . These conditions change pavement conditions and the sight offered to the driverGiven that there is no sensor reflecting the road conditions which can be used on vehicles with standard sensors, we present in the first part of the thesis a new maximum road’s friction estimator. In addition, there are already some visibility distance estimators that use an onboard camera, but they have some limitations that we tried to circumvent. The presentation of this estimator constitutes the second part of the thesis
De, Miranda Neto Arthur. "Embedded visual perception system applied to safe navigation of vehicles." Compiègne, 2011. http://www.theses.fr/2011COMP1987.
This thesis addresses the problem of obstacle avoidance for semi- and autonomous terrestrial platforms in dynamic and unknown environments. Based on monocular vision, it proposes a set of tools that continuously monitors the way forward, proving appropriate road informations in real time. A horizon finding algorithm was developed to sky removal. This algorithm generates the region of interest from a dynamic threshold search method, allowing to dynamically investigate only a small portion of the image ahead of the vehicle, in order to road and obstacle detection. A free-navigable area is therefore represented from a multimodal 2D drivability road image. This multimodal result enables that a level of safety can be selected according to the environment and operational context. In order to reduce processing time, this thesis also proposes an automatic image discarding criteria. Taking into account the temporal coherence between consecutive frames, a new Dynamic Power Management methodology is proposed and applied to a robotic visual machine perception, which included a new environment observer method to optimize energy consumption used by a visual machine. This proposal was tested in different types of image texture (road surfaces), which includes free-area detection, reactive navigation and time-to-collision estimation. A remarkable characteristic of these methodologies is its independence of the image acquiring system and of the robot itself. This real-time perception system has been evaluated from different test-banks and also from real data obtained by two intelligent platforms. In semi-autonomous tasks, tests were conducted at speeds above 100 Km/h. Autonomous displacements were also carried out successfully. The algorithms presented here showed an interesting robustness
Zayed, Mohamed. "Véhicules intelligents : étude et développement d'un capteur intelligent de vision pour l'attelage virtuel." Lille 1, 2005. https://ori-nuxeo.univ-lille1.fr/nuxeo/site/esupversions/b030da38-33c4-479d-b15b-10751fda9f2f.
Ghorayeb, Hicham. "Conception et mise en oeuvre d'algorithmes de vision temps réel pour la vidéo surveillance intelligente." Paris, ENMP, 2007. http://www.theses.fr/2007ENMP1463.
In this dissertation, we present our research work held at the Center of Robotics (CAOR) of the Ecole des Mines de Paris which tackles the problem of intelligent video analysis. The primary objective of our research is to prototype a generic framework for intelligent video analysis. We optimized this framework and configured it to cope with specific application requirements. We consider a people tracker application extracted from the PUVAME project. This application aims to improve people security in urban zones near to bus stations. Then, we have improved the generic framework for video analysis mainly for background subtraction and visual object detection. We have developed a library for machine learning specialized in boosting for visual object detection called LibAdaBoost. To the best of our knowledge LibAdaBoost is the first library in its kind. We make LibAdaBoost available for the machine learning community under the LGPL license. Finally we wanted to adapt the visual object detection algorithm based on boosting so that it could run on the graphics hardware. To the best of our knowledge we were the first to implement visual object detection with sliding technique on the graphics hardware. The results were promising and the prototype performed three to nine times better than the CPU. The framework was successfully implemented and integrated to the RTMaps environment. It was evaluated at the final session of the project PUVAME and demonstrated its fiability over various test scenarios elaborated specifically for the PUVAME project
Sciandra, Vincent. "Toward unifying on-board intelligent transportation systems architecture in public transports." Thesis, Paris Est, 2013. http://www.theses.fr/2013PEST1097/document.
Intelligent Transportation systems (ITS) are massively used in the Public Transport sector since the Two decades. This profusion of systems on-board and off-board vehicles generates inter-operability issues. The growth of urban zones and the increase of public transport attractiveness, brought multi-modal constraints that are today limited due to a lack of architecture vision embracing all ITS. This thesis proposes to unify the architecture vision of on-board ITS. We based our technical architecture on the Service Oriented Architecture (SOA) proposed in the European Bus System of the Future (EBSF) project, in which this thesis actively contributed. We study first the global requirements of different transportation modes operated in Europe. Those requirements are a basis to the definition of technical constraints of a global architecture. Those constraints are ranked in terms of importance using a proposed method based on Multi-Criteria Decision Making (MCDM) techniques. The method that we propose permits to size the technical architecture. We then study the flow management of data, considering the context of operation of vehicles and the criticality of ITS applications. We propose to adapt the Real-time Mixed-Criticality model to communication systems on-board the vehicles. We apply this method on a communication gateway of a bus, through its journey. Finally we present the work done at the standardization level (CEN) in order promote the global architecture vision presented in the thesis
Koubeissi, Ahmad. "Methodology for unified modeling of system of systems of engineering." Thesis, Lille 1, 2015. http://www.theses.fr/2015LIL10143/document.
The main focus of this thesis is on multilevel graphical modeling of behavior and organization of a set of component systems in a System of Systems concept. In the present work, we model the wireless communication link among component systems, with all its major effects, using a graphical modeling tool for describing flow of power in multi-physics domain called Bond Graph. This model permits identifying mathematically, the quality of signal received at information sink based on model parameter values. We conduct an experiment on cooperative behavior of two humanoids in a system of systems concept and demonstrate how we are able to experimentally measure the parameter values defined in our model.Next we justify how we are able to evaluate quantitatively, the fault tolerance level of a wireless communication link and introduce the need for redundant links in system of systems. Then we propose a methodology for coupling Hyper Graph, used for modeling the organization of component systems, and Bond Graph in multilevel graphical modeling of system of systems. Finally, we discuss another system of systems with two cooperating component systems, a Unmanned Aerial Vehicle (UAV) and an intelligent autonomous vehicle (robuTAINer), in which the UAV will supply navigation information to the intelligent autonomous vehicle to be able to safely maneuver in a confined space. We develop algorithms for robuTAINer detection and navigation from UAV. Then we practically test our algorithms and analyze the obtained results
Boutahala, Ramzi. "Mécanismes de sécurisation des communications véhiculaires." Electronic Thesis or Diss., Reims, 2023. http://www.theses.fr/2023REIMS047.
In this thesis, we consider the problem of communication channel overload in the context of cooperative intelligent transport systems (C-ITS). We aim to improve the communication mechanism between vehicles and focus on the security part of communication, which is the most costly in terms of resources. In Europe and the USA, adapted communication protocols have been proposed to ensure communication and cooperation among all relevant actors (vehicles, road infrastructure, pedestrians, etc). These protocols enable vehicles to communicate with each other by exchanging specific messages. Each vehicle periodically sends application beacons denoted CAM (Cooperative Awareness Message). This CAM contains information about the vehicle status (speed, location, heading, etc). In order to guarantee the integrity and the authentication of the exchanged messages, signatures that are computed using various Pseudonym Certificates (PC) are included in all sent messages. We propose a different approach that enables vehicles to send CAMs, without having to send security information, with each transmission, as required by current standards. Instead of exhaustive authentication, our approach enables vehicles to reduce data security and build trust by creating trusted environments. This reduces the need for frequent exchanges of signed CAMs and eliminates the need for an extensive verification and signature process, effectively conserving bandwidth. In addition, we propose a trust verification process that checks this trust to avoid malicious activities. Our strategy incorporates a two-fold mechanism: an extrapolation method that sets thresholds for the detection of inconsistent behavior, followed by an unsupervised deep learning model trained on calibrated data, consistently evaluating variations in neighbor behavior. The effectiveness of our approach is supported using traffic data from the A4 Reims-Paris highway in France, with simulations performed in OMNeT++, SUMO and Artery environments. The performance of all considered methods was comparatively assessed under identical testing conditions
Desjardins, Charles. "Cooperative Adaptive Cruise Control: A Learning Approach." Thesis, Université Laval, 2009. http://www.theses.ulaval.ca/2009/26048/26048.pdf.
The impressive growth, in the past decades, of the number of vehicles on the road has not come without its share of negative impacts on society. Even though vehicles play an active role in the economical development of urban regions around the world, they unfortunately also have negative effects on businesses as the poor efficiency of the traffic ow results in important losses in productivity each day. Moreover, numerous concerns have been raised in relation to the safety of passengers, as automotive transportation is still among the first causes of accidental casualties in developed countries. In recent years, environmental issues have also been taking more and more place in the mind of customers, that now demand energy-efficient vehicles that limit the impacts on the environment. Of course, both the governments of industrialized countries and the vehicle manufacturers have been aware of these problems, and have been trying to develop technologies in order to solve these issues. Among these research efforts, the field of Intelligent Transportation Systems (ITS) has been gathering much interest as of late, as it is considered an efficient approach to tackle these problems. ITS propose to integrate advanced electronic systems in the development of intelligent solutions designed to address the current issues of automotive transportation. This thesis focuses on a sub-field ITS since it studies the resolution of these problems through the development of Intelligent Vehicle (IV) systems. In particular, this thesis proposes a relatively novel approach for the design of such systems, based on modern machine learning. More specifically, it shows how reinforcement learning techniques can be used in order to obtain an autonomous vehicle controller for longitudinal vehiclefollowing behavior. Even if these efforts are still at a preliminary stage, this thesis illustrates the potential of using these approaches for future development of \intelligent" vehicles.
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Le, Mortellec Antoine. "Proposition d'une architecture de surveillance "active" à base d'agents intelligents pour l'aide à la maintenance de systèmes mobiles - Application au domaine ferroviaire." Phd thesis, Université de Valenciennes et du Hainaut-Cambresis, 2014. http://tel.archives-ouvertes.fr/tel-00947981.
Masri, Ali. "Multi-Network integration for an Intelligent Mobility." Thesis, Université Paris-Saclay (ComUE), 2017. http://www.theses.fr/2017SACLV091/document.
Multimodality requires the integration of heterogeneous transportation data and services to construct a broad view of the transportation network. Many new transportation services (e.g. ridesharing, car-sharing, bike-sharing) are emerging and gaining a lot of popularity since in some cases they provide better trip solutions.However, these services are still isolated from the existing multimodal solutions and are proposed as alternative plans without being really integrated in the suggested plans. The concept of open data is raising and being adopted by many companies where they publish their data sources to the web in order to gain visibility. The goal of this thesis is to use these data to enable multimodality by constructing an extended transportation network that links these new services to existing ones.The challenges we face mainly arise from the integration problem in both transportation services and transportation data
Luo, Minzhi. "Conception & développement d'une plateforme en réalité virtuelle de pilotage de véhicules intelligents." Phd thesis, Ecole Centrale de Lille, 2012. http://tel.archives-ouvertes.fr/tel-00741938.
Ricard, Quentin. "Détection autonome de trafic malveillant dans les réseaux véhiculaires." Thesis, Toulouse 3, 2020. http://www.theses.fr/2020TOU30149.
The growth of intelligent transport systems brings new highly connected vehicles on the roads of the world. These vehicles now embed new devices and services meant to increase road safety, reduce the environmental impact of the vehicles and improve the user experience. However, these new communication channels between vehicles and the rest of the world, especially cellular networks bring new vulnerabilities. Vehicles are now depending on the information provided by the network and are therefore subject to malfunction and anomalies due to such network. Worse, they become vulnerable to malicious actors of the cyber-space. Mainstream information networks have been confronted with security problems for a long time. Numerous approaches have been designed in order to detect anomalies an intrusion inside such networks. However, these methods cannot be applied directly to the automotive context. In fact, the specific nature of the communications, the anomalies and the execution of intrusion detection systems inside the vehicles must be considered. Therefore, we present a new anomaly detection system dedicated to vehicular networks and their vulnerabilities. Our detection is based on the creation of instantaneous description windows that are linked together thanks to an ontology. Thanks to these relations, the results of the detection are fed with the communication context of the vehicle during an anomaly. Consequently, the diagnostic from the administrator is made easier and we ensure the traceability of the anomaly. We evaluate the performances of our system thanks to a dataset produced by our tool named Autobot. It produces realistic communications, anomalies and attacks on cellular vehicular networks. We aim to evaluate our system based on the quality of the detection of different kinds of attacks while minimizing the number of false positives. We compare the results of two unsupervised machine learning algorithms that are used during the detection named HTM and LSTM
Yu, Chunlei. "Contribution to evidential models for perception grids : application to intelligent vehicle navigation." Thesis, Compiègne, 2016. http://www.theses.fr/2016COMP2293.
For intelligent vehicle applications, a perception system is a key component to characterize in real-time a model of the driving environment at the surrounding of the vehicle. When modeling the environment, obstacle information is the first feature that has to be managed since collisions can be fatal for the other road users or for the passengers on-board the considered vehicle. Characterization of occupation space is therefore crucial but not sufficient for autonomous vehicles since the control system needs to find the navigable space for safe trajectory planning. Indeed, in order to run on public roads with other users, the vehicle needs to follow the traffic rules which are, for instance, described by markings painted on the carriageway. In this work, we focus on an ego-centered grid-based approach to model the environment. The objective is to include in a unified world model obstacle information with semantic road rules. To model obstacle information, occupancy is handled by interpreting the information of different sensors into the values of the cells. To model the semantic of the navigable space, we propose to introduce the notion of lane grids which consist in integrating semantic lane information into the cells of the grid. The combination of these two levels of information gives a refined environment model. When interpreting sensor data into obstacle information, uncertainty inevitably arises from ignorance and errors. Ignorance is due to the perception of new areas and errors come from noisy measurements and imprecise pose estimation. In this research, the belief function theory is adopted to deal with uncertainties and we propose evidential models for different kind of sensors like lidars and cameras. Lane grids contain semantic lane information coming from lane marking information for instance. To this end, we propose to use a prior map which contains detailed road information including road orientation and lane markings. This information is extracted from the map by using a pose estimate provided by a localization system. In the proposed model, we integrate lane information into the grids by taking into account the uncertainty of the estimated pose. The proposed algorithms have been implemented and tested on real data acquired on public roads. We have developed algorithms in Matlab and C++ using the PACPUS software framework developed at the laboratory
Paclisan, Dana-Maria. "Optimisation par la modélisation de l'expérimentation vibratoire des systèmes pile à combustible pour le transport terrestre." Phd thesis, Université de Technologie de Belfort-Montbeliard, 2013. http://tel.archives-ouvertes.fr/tel-00977688.
Ben, Jmaa Chtourou Yomna. "Implémentation temps réel des algorithmes de tri dans les applications de transports intelligents en se basant sur l'outil de synthèse haut niveau HLS." Thesis, Valenciennes, 2019. http://www.theses.fr/2019VALE0013.
Intelligent transport systems play an important role in minimizing accidents, traffic congestion, and air pollution. Among these systems, we mention the avionics domain, which uses in several cases the sorting algorithms, which are one of the important operations for real-time embedded applications. However, technological evolution is moving towards more and more complex architectures to meet the application requirements. In this respect, designers find their ideal solution in reconfigurable computing, based on heterogeneous CPU / FPGA architectures that house multi-core processors (CPUs) and FPGAs that offer high performance and adaptability to real-time constraints. Of the application. The main objective of my work is to develop hardware implementations of sorting algorithms on the heterogeneous CPU / FPGA architecture by using the high-level synthesis tool to generate the RTL design from the behavioral description. This step requires additional efforts on the part of the designer in order to obtain an efficient hardware implementation by using several optimizations with different use cases: software, optimized and nonoptimized hardware and for several permutations / vectors generated using the generator pf permutation based on Lehmer method. To improve performance, we calculated the runtime, standard deviation and resource number used for sorting algorithms by considering several data sizes ranging from 8 to 4096 items. Finally, we compared the performance of these algorithms. This algorithm will integrate the applications of decision support, planning the flight plan
Zhang, Jian. "Modèles de Mobilité de Véhicules par Apprentissage Profond dans les Systèmes de Tranport Intelligents." Thesis, Ecole centrale de Lille, 2018. http://www.theses.fr/2018ECLI0015/document.
The intelligent transportation systems gain great research interests in recent years. Although the realistic traffic simulation plays an important role, it has not received enough attention. This thesis is devoted to studying the traffic simulation in microscopic level, and proposes corresponding vehicular mobility models. Using deep learning methods, these mobility models have been proven with a promising credibility to represent the vehicles in real-world. Firstly, a data-driven neural network based mobility model is proposed. This model comes from real-world trajectory data and allows mimicking local vehicle behaviors. By analyzing the performance of this basic learning based mobility model, we indicate that an improvement is possible and we propose its specification. An HMM is then introduced. The preparation of this integration is necessary, which includes an examination of traditional dynamics based mobility models and the adaptation method of “classical” models to our situation. At last, the enhanced model is presented, and a sophisticated scenario simulation is built with it to validate the theoretical results. The performance of our mobility model is promising and implementation issues have also been discussed
Hallé, Simon. "Automated Highway Systems: Platoons of Vehicles Viewed as a Multiagent System." Thesis, Université Laval, 2005. http://www.theses.ulaval.ca/2005/22729/22729.pdf.
Collaborative driving is a growing domain of Intelligent Transportation Systems (ITS) that makes use of communications to autonomously guide cooperative vehicles on an Automated Highway System (AHS). For the past decade, different architectures of automated vehicles have been proposed, but most of them did not or barely addressed the inter-vehicle communication problem. In this thesis, we address the collaborative driving problem by using a platoon of cars driven by more or less autonomous software agents interacting in a Multiagent System (MAS) environment: the automated highway. To achieve this, we propose a hierarchical driving agent architecture based on three layers (guidance layer, management layer and traffic control layer). This architecture can be used to develop centralized platoons, where the driving agent of the head vehicle coordinates other driving agents by applying strict rules, and decentralized platoons, where the platoon is considered as a team of driving agents with a similar degree of autonomy, trying to maintain a stable platoon.
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Sulface, Allain. "Simulation du trafic routier et communication inter-véhicules." Thesis, Université Laval, 2011. http://www.theses.ulaval.ca/2011/28507/28507.pdf.
Marouane, Hela. "Contribution à la modélisation des applications temps réel d'aide à la conduite." Thesis, Le Havre, 2015. http://www.theses.fr/2015LEHA0017/document.
Advanced Driver Assistance Systems (ADAS) manage an important volume of data that must be updated regularly. However, ADAS don't store, nor manage efficiently these data. For these reasons, we propose to integrate a real-time (RT) database system into ADAS. The integration of the RT database system allows improving the fault tolerance, reducing the number of transactions and minimizing their response time. The management of a lot of data makes these systems complex, thus, their design is highly difficult. To tackle this problem, we have proposed three patterns based on the pattern development process. This process allows defining the steps to follow in order to determine the functionalities and the requirements of the driver assistance domain on one hand, and defining the unification rules for the generation of the UML class and sequence diagrams, on the other hand. In order to represent these patterns, we have proposed UML-RTDB2 profile, which allows (i) expressing the variability of patterns, (ii) representing the real time constraints and the non functional properties and (iii) identifying the role played by each pattern element in a pattern instance. Once the proposed patterns are created, they can be reused by designers to model a specific application. For this reason, we have proposed a process to assist the applications designers when instantiating the patterns solutions. Finally, we have evaluated these patterns based on two categories of metrics
Yazbeck, Jano. "Accrochage immatériel sûr et précis de véhicules automatiques." Thesis, Université de Lorraine, 2014. http://www.theses.fr/2014LORR0070/document.
This thesis deals with the platooning problem which aims to concieve a control algorithm allowing a convoy of vehicles to follow their leader's path. This path, which is initially undefined and unknown to all the following robots, is generated as the leader moves. In this thesis, we choose a local decentralized approach in which each robot of the platoon uses its local perceptions to compute its own commands aiming to achieve a stable (no oscillations) and precise (with a lateral error as small as possible) platooning. More precisely, this thesis studies the lateral behavior of a platoon's robot and introduces two controllers based on the memorization of the robot's predecessor's path. The first algorithm, Memo-LAT (Memorization and Look-Ahead Target), computes a continuous lateral command using an analytic control law. As the stability of Memo-LAT is not always guaranteed, we present NOC (Non-Oscillatory Convergence), a control algorithm which takes into account the path's curvature in the robot's lateral behavior's computation. NOC combines a geometric approach to a heuristic search method to compute a discrete command allowing the robot to follow precisely and without oscillations its predecessor's path
Petti, Stéphane Renaud. "Navigation sûre en environnement dynamique : une approche par planification de mouvement partiel." Phd thesis, École Nationale Supérieure des Mines de Paris, 2007. http://pastel.archives-ouvertes.fr/pastel-00003661.
Yakan, Hadi. "Security of V2X communications in 3GPP - 5G cellular networks." Electronic Thesis or Diss., université Paris-Saclay, 2023. http://www.theses.fr/2023UPASG077.
The introduction of 5G networks has brought significant technical improvements; a new era of Vehicle-to-Everything (V2X) communications has emerged, offering new and advanced safety, efficiency, and other driving experience applications in the Intelligent Transport Systems (ITS). However, with new features come new security challenges, especially in the realm of Vehicle-to-Network (V2N) communications.This thesis focuses on the application of misbehavior detection in V2X communications within 5G networks. First, we introduce a novel misbehavior detection system integrated with 5G core (5GC) network to detect and prevent V2X attacks. Then, we propose a collaboration scheme between detection nodes to improve detection results in 5G edge networks. Last, we leverage Federated Learning to enable distributed training, and we assess the performance on a wide variety of V2X attacks
Lefèvre, Stéphanie. "Estimation du risque aux intersections pour applications sécuritaires avec véhicules communicants." Phd thesis, Université de Grenoble, 2012. http://tel.archives-ouvertes.fr/tel-00858906.
Ayaida, Marwane. "Contribution aux communications intra-véhicule et inter-véhicules." Thesis, Reims, 2012. http://www.theses.fr/2012REIMS016/document.
Modern vehicles are equipped with various devices that aim to automate tasks (shift transmission, cruise control, etc.) or to provide services to the user (driver assistance, obstacle detection, etc.). Communications between vehicles help to expand these services through the collaboration of several vehicles (accident prevention, traffic management, etc.). The proliferation of these devices, their interfaces and protocols makes the data exchange more complex. In addition, inter-vehicle communication is more restrictive because of the vehicles' high mobility.In this work, we propose the design of a communication channel Connect to All (C2A) that ensures the interoperability between embedded devices in a vehicle. In fact, it detects the equipment connection, recognizes it and allows it to exchange data with other devices. The channel design starts by the modelling step using two different techniques (the model checker tool UPPAAL and the Specification and Description Language (SDL). Then, we validate the designed models. We also detail a concrete implementation of the channel on an embedded chip that aims to show the C2A interoperability concept feasibility.We also studied the mobility effects in the inter-vehicular communication through a hybrid approach mixing routing and location-based service. This approach provides a mechanism to reduce vehicle-tracking costs while increasing routing performances. Moreover, we compare two applications of this approach: Hybrid Routing and Grid Location Service (HRGLS) and Hybrid Routing and Hierarchical Location Service (HRHLS) with classical approaches to prove the added value. Then, this approach is improved with a mobility prediction algorithm. The latter allows a better understanding of the vehicle movements by estimating them. Similarly, the hybrid approach with mobility prediction Predictive Hybrid Routing and Hierarchical Location Service (PHRHLS) is compared with the basic approach and HRHLS in order to show the mobility prediction advantages
Chebbi, Emna. "De la modélisation formelle à la simulation à évènements discrets : application à la conception et à l'évaluation de protocoles sûrs et sécurisés pour les communications dans les transports." Thesis, Littoral, 2019. http://www.theses.fr/2019DUNK0538.
The design of communication protocols is generally based on functional models developed from the system needs. In Intelligent Transport Systems (ITS), the studied functionalities include self-organization, routing, reliability, quality of service and security. Simulation evaluations of ITS protocols mainly focus on performance in specific scenarios. However, the evolution of transportation towards autonomous vehicles requires robust protocols offering guarantees on some of their properties. Formal approaches make it possible to provide automatic proof of certain properties, but for others it is necessary to use interactive proof involving the knowledge of an Expert. The work carried out in this thesis aims to develop, in the DEVS formalism (Discrete Event System Specification), models of an ITS whose simulation would make it possible to observe the properties, possibly verified by a formal approach, in a broader scenario and to generate data on the models that could feed an interactive proof loop instead of an Expert. Targeting the CBL-OLSR (Chain-Branch-Leaf in Optimized Link State Routing) protocol, this thesis shows how a DEVS model and an equivalent formal Event-B model can be built from the same functional specification of an ad hoc network where nodes use this protocol. Safety and security properties are introduced into the formal Event-B model to be verified, and a methodology is proposed to transfer them to an equivalent DEVS model in the form of constraints, choices or observables according to preproposed criteria. Finally, this thesis also opens up the prospects for automating this design process, integrating real data on both road traffic and vehicle application flows into DEVS simulation, and interacting with specialized simulators for the various components (e. g. MATLAB for propagation models, OPNET or NS3 for communications, SUMO for mobility models); the aim being to evaluate the protocol in a very realistic system context
Mallouk, Issam. "Modélisation d’une assistance décisionnelle basée sur l’intelligence artificielle pour les systèmes cyber-physiques : Application à la maintenance dans le domaine du Transport." Electronic Thesis or Diss., Valenciennes, Université Polytechnique Hauts-de-France, 2023. http://www.theses.fr/2023UPHF0025.
Cyber-physical systems (PCS) are complex and interconnected systems, where digital technologies converge with the physical world, having revolutionized many sectors of activity. The Internet of Things (IOT) has also encouraged the massive collection of data, thus contributing to the development of "Big Data". However, the development of IOT and SCPs has created challenges, mainly related to massive data management and decision-making. The development of approaches such as Data Analytics and Machine Learning, however, offers solutions by identifying “hidden” patterns or characteristics within this massive data.This thesis addresses the problem of decision-making by using the approaches and techniques of Artificial Intelligence and is particularly interested in the Transportation applicative field. Modern transport systems, considered as complex Cyber Physical Systems, incorporate a wide variety of mechatronic equipment. They are increasingly autonomous, equipped with sensors allowing them to perceive their environment and means allowing interaction with fleet managers. A holistic approach to fleet management helps improve various functions such as maintenance planning and operations management.The thesis focuses on the cyber loops associated with the operation of cyber physical systems, with a focus on the maintenance activity. It offers decision-making assistance by characterizing cybernetic loops, specifying the needs of decision-makers, and developing Machine Learning approaches while respecting the requirements of genericity and technological independence. The modeling of this assistance is based on a holonic decomposition of the SCP and uses Rasmussen's typology at the level of decision making. A methodological guide accompanies this approach.The concepts proposed in this thesis work have been validated through two industrial collaborations. A first collaboration with the Moroccan company STMF has made it possible to optimize the maintenance of a fleet of trucks transporting hazardous materials. A second collaboration with ALSTOM aims to improve the reliability growth of railway rolling stock by detecting warning signs of a failure
Dahmane, Khouloud. "Analyse d'images par méthode de Deep Learning appliquée au contexte routier en conditions météorologiques dégradées." Thesis, Université Clermont Auvergne (2017-2020), 2020. http://www.theses.fr/2020CLFAC020.
Nowadays, vision systems are becoming more and more used in the road context. They ensure safety and facilitate mobility. These vision systems are generally affected by the degradation of weather conditions, like heavy fog or strong rain, phenomena limiting the visibility and thus reducing the quality of the images. In order to optimize the performance of the vision systems, it is necessary to have a reliable detection system for these adverse weather conditions.There are meteorological sensors dedicated to physical measurement, but they are expensive. Since cameras are already installed on the road, they can simultaneously perform two functions: image acquisition for surveillance applications and physical measurement of weather conditions instead of dedicated sensors. Following the great success of convolutional neural networks (CNN) in classification and image recognition, we used a deep learning method to study the problem of meteorological classification. The objective of our study is to first seek to develop a classifier of time, which discriminates between "normal" conditions, fog and rain. In a second step, once the class is known, we seek to develop a model for measuring meteorological visibility.The use of CNN requires the use of train and test databases. For this, two databases were used, "Cerema-AWP database" (https://ceremadlcfmds.wixsite.com/cerema-databases), and the "Cerema-AWH database", which has been acquired since 2017 on the Fageole site on the highway A75. Each image of the two bases is labeled automatically thanks to meteorological data collected on the site to characterize various levels of precipitation for rain and fog.The Cerema-AWH base, which was set up as part of our work, contains 5 sub-bases: normal day conditions, heavy fog, light fog, heavy rain and light rain. Rainfall intensities range from 0 mm/h to 70mm/h and fog weather visibilities range from 50m to 1800m. Among the known neural networks that have demonstrated their performance in the field of recognition and classification, we can cite LeNet, ResNet-152, Inception-v4 and DenseNet-121. We have applied these networks in our adverse weather classification system. We start by the study of the use of convolutional neural networks. The nature of the input data and the optimal hyper-parameters that must be used to achieve the best results. An analysis of the different components of a neural network is done by constructing an instrumental neural network architecture. The conclusions drawn from this analysis show that we must use deep neural networks. This type of network is able to classify five meteorological classes of Cerema-AWH base with a classification score of 83% and three meteorological classes with a score of 99%Then, an analysis of the input and output data was made to study the impact of scenes change, the input's data and the meteorological classes number on the classification result.Finally, a database transfer method is developed. We study the portability from one site to another of our adverse weather conditions classification system. A classification score of 63% by making a transfer between a public database and Cerema-AWH database is obtained.After the classification, the second step of our study is to measure the meteorological visibility of the fog. For this, we use a neural network that generates continuous values. Two fog variants were tested: light and heavy fog combined and heavy fog (road fog) only. The evaluation of the result is done using a correlation coefficient R² between the real values and the predicted values. We compare this coefficient with the correlation coefficient between the two sensors used to measure the weather visibility on site. Among the results obtained and more specifically for road fog, the correlation coefficient reaches a value of 0.74 which is close to the physical sensors value (0.76)
Wilhelm, Geoffrey. "Etude des interactions réseaux véhiculaires et Cloud." Thesis, Reims, 2018. http://www.theses.fr/2018REIMS032/document.
Vehicular Ad-hoc Networks (VANETs) are a new kind of networks which allow to connect vehicles between them and with the road infrastructures. It make possible to deploy safety applications (colision avoidance, roadworks advertisement, etc.), real time application (driver assistance, automated driving, etc.), comfort application (automatic toll payment, access to multimedia contents via internet, etc.). In order to be functioning completely, the vehicle needs more and more computing power and a connection with almost no interruption. To guarantee this constraints, VANETs are using more and more often the Cloud Computing. This thesis aims to explore the differents intereactions between VANETs and the Cloud
El, Ali Farah. "Communication unicast dans les réseaux mobiles dynamiques." Phd thesis, Université de Technologie de Compiègne, 2012. http://tel.archives-ouvertes.fr/tel-00795923.
Mbuli, John William. "Proposition d'un système multi-agent pour la planification réactive des opérations de maintenance d'une flotte de systèmes cyber-physiques mobiles : application au domaine ferroviaire." Thesis, Valenciennes, Université Polytechnique Hauts-de-France, 2019. https://ged.uphf.fr/nuxeo/site/esupversions/94c820c4-cf03-4a1c-8bbb-6a3284fc51dd.
The manufacturers and the operators of the fleets of cyber-physical systems (CPSs) are subjected to huge expectations expressed in terms of the availability and reliability of the provided products and services during the exploitation of these fleets in dynamic environments. These expectations foster the fleet manufacturers, particularly in the transportation sector, to develop effective mechanisms as far as the reactive planning of the maintenance operations at the fleet level is concerned. In this research work, a multi-agent system (MAS) for the reactive maintenance planning of a fleet of CPSs is proposed. The proposed MAS is conceived by using the ANEMONA design methodology and it aims at optimizing the fleet maintenance planning decisions to meet the specified objectives. The experiments carried out in the course of this work demonstrate the ability of the proposed MAS in planning the fleet maintenance effectively (i.e. satisfying the fleet’s availability and reliability requirements in a static environment) and reactively (i.e. being able to adapt/modify the fleet maintenance planning decisions following perturbations). The effectiveness of the MAS model is validated by a mathematical programming model and its reactivity is tested by using simulated perturbations. An application in rail transport industry to the fleet of trains at Bombardier Transportation France is proposed. The proposed MAS is integrated in a decision support system called "MainFleet". The development of Main-Fleet at Bombardier is ongoing
Rahmani, Younes. "The Multi-product Location-Routing Problem with Pickup and Delivery." Electronic Thesis or Diss., Université de Lorraine, 2015. http://www.theses.fr/2015LORR0331.
In the framework of Location-Routing Problem (LRP), the main idea is to combine strategic decisions related to the choice of processing centers with tactical and operational decisions related to the allocation of customers to selected processing centers and computing the associated routes. This thesis proposes a new location-routing model to solve problems which are coming from logistics networks, that became nowadays increasingly complex due to the need of resources sharing, in order to integrate the constraints of sustainable development and fuels price, which is increasing irreversibly. More precisely, three aspects have been integrated to generalize the classical LRP models already existed in the literature: 1) pickup and delivery aspect, 2) multi-product aspect, and 3) the possibility to use the processing centers as intermediate facilities in routes. We studied two logistics schemes gives us two new location-routing models: (i) MPLRP-PD (Multi-product LRP with pickup and delivery), which can be viewed as an extension of the vehicle routing problem with pick-up and delivery, including a tactical decision related to the location of processing centers (node with pick-up and delivery), and (ii) 2E-MPLRP-PD (Two-echelon multi-product LRP with pickup and delivery), which is a generalization of the two-echelon LRP. Both models were formalized by mixed integer linear programming (MIP). Solving techniques, based on heuristic methods, clustering approach and meta-heuristic techniques have been proposed to solve the MPLRP-PD and the 2E-MPLRP-PD. The benchmarks from the literature were generalized to test and to validate the proposed algorithms
Yazbeck, Jano. "Accrochage immatériel sûr et précis de véhicules automatiques." Electronic Thesis or Diss., Université de Lorraine, 2014. http://www.theses.fr/2014LORR0070.
This thesis deals with the platooning problem which aims to concieve a control algorithm allowing a convoy of vehicles to follow their leader's path. This path, which is initially undefined and unknown to all the following robots, is generated as the leader moves. In this thesis, we choose a local decentralized approach in which each robot of the platoon uses its local perceptions to compute its own commands aiming to achieve a stable (no oscillations) and precise (with a lateral error as small as possible) platooning. More precisely, this thesis studies the lateral behavior of a platoon's robot and introduces two controllers based on the memorization of the robot's predecessor's path. The first algorithm, Memo-LAT (Memorization and Look-Ahead Target), computes a continuous lateral command using an analytic control law. As the stability of Memo-LAT is not always guaranteed, we present NOC (Non-Oscillatory Convergence), a control algorithm which takes into account the path's curvature in the robot's lateral behavior's computation. NOC combines a geometric approach to a heuristic search method to compute a discrete command allowing the robot to follow precisely and without oscillations its predecessor's path
Haidar, Farah. "Validation platform for vehicle secure and highly trusted communications in the context of the cooperative ITS systems." Electronic Thesis or Diss., Institut polytechnique de Paris, 2020. http://www.theses.fr/2020IPPAT011.
Cooperative Intelligent Transportation System (C-ITS) has gained much attention in the recent years due to the large number of applications/use cases that can improve future driving experience. Future vehicles will be connected through several communication technologies which will open the door to new threats and vulnerabilities that must be taken into account. The security protection is a key subject to address before C-ITS deployment. Moreover, the wide variety of C-ITS use cases/application with different security requirements makes the security a big challenge. User's privacy and data protection are also a challenge. Automotive industry and operators should comply with the national and international legislation for the data protection in C-ITS. In order to deal with privacy issues, existing solution consists of having a pool of valid pseudonym identities, by the vehicle, and changing them during the communication. One of the motivations of this thesis is to study the performance of pseudonym certificate reloading. In other words, it is important to ensure that the latency of reloading pseudonym certificates from the PKI while driving at different speeds is acceptable. The second motivation is the investigation on threats and vulnerabilities, especially on those that come from the pseudonym certificate's use. The objective is to implement those attacks and propose new solutions or find improvements to the existing solution for detecting and preventing security attacks. Security and privacy in C-ITS are considered as big challenges. A Lot of work has been done and good solutions exist in the security and privacy domain. We notice that systems cannot be secure at 100% but driver's safety is related to system's security. For this, the aim of this thesis is to do white hack of the C-ITS in order to improve the existing solution. A risk assessment is needed to identify our target of evaluation and analyse potential risks. The final goal of this thesis is to propose a security and performance validation plate-form for vehicular communication in the context of C-ITS
Boussik, Amine. "Apprentissage profond non-supervisé : Application à la détection de situations anormales dans l’environnement du train autonome." Electronic Thesis or Diss., Valenciennes, Université Polytechnique Hauts-de-France, 2023. http://www.theses.fr/2023UPHF0040.
The thesis addresses the challenges of monitoring the environment and detecting anomalies, especially obstacles, for an autonomous freight train. Although traditionally, rail transport was under human supervision, autonomous trains offer potential advantages in terms of costs, time, and safety. However, their operation in complex environments poses significant safety concerns. Instead of a supervised approach that requires costly and limited annotated data, this research adopts an unsupervised technique, using unlabeled data to detect anomalies based on methods capable of identifying atypical behaviors.Two environmental surveillance models are presented : the first, based on a convolutional autoencoder (CAE), is dedicated to identifying obstacles on the main track; the second, an advanced version incorporating the vision transformer (ViT), focuses on overall environmental surveillance. Both employ unsupervised learning techniques for anomaly detection.The results show that the highlighted method offers relevant insights for monitoring the environment of the autonomous freight train, holding potential to enhance its reliability and safety. The use of unsupervised techniques thus showcases the utility and relevance of their adoption in an application context for the autonomous train
Zheng, Tian. "Analyse de Fiabilité et de performance d'un Système de Véhicules Intelligents." Phd thesis, Ecole Centrale de Lille, 2013. http://tel.archives-ouvertes.fr/tel-00866223.
Zaghdoud, Radhia. "Hybridation d’algorithme génétique pour les problèmes des véhicules intelligents autonomes : applications aux infrastructures portuaires de moyenne taille." Thesis, Ecole centrale de Lille, 2015. http://www.theses.fr/2015ECLI0023/document.
The objective of our work is to develop a container assignment system for intelligent autonomous vehicles (AIVS) in a container terminal. Given the complexity of this problem, it was proposed to decompose it into three problems: The problem of dispatching containers to AIVS, the AIVS routing problem and the problem of scheduling containers to queues of AIVS. To achieve this goal, we developed in the first phase, a static system for multi-objective problem to optimize the total duration of the containers transportation, the waiting time of vehicles at loading points and the equilibrium of working time between vehicles. The approach used was the genetic algorithm (GA). This approach was applied to optimize only the assignment operation without influence on the choice of the path traveled by each AIV. An extension of this work was then made to improve the results found. For this purpose, a comparative study was carried out between three approaches: The first approach is the AG, the second approach is the GA and the Dijkstra algorithm (DIJK) that was used to find the shortest path for each vehicle and the third approach is the AG and DIJK and heuristic (HEUR) which was proposed to choose the nearest vehicle of each container. The numerical study showed the best performance of the AG & DJK & HEUR approach over the other two approaches. In the second phase of our project, the robustness of our system in a dynamic environment has been studied. A delay of the arrival of a ship at the port or malfunction of one of any equipment of the port can cause a delay of one of the operations of loading or unloading process. This will affect the container assignment operation. The idea was to add new containers to vehicles that are already unavailable. The traffic can also cause a delay in arrival of the vehicle at the position of the container or the unavailability of one of the paths crossing point. These cases were investigated experimentally, numerical results showed the robustness of our approach to dynamic case
Bousselmi, Ayoub. "Conception et optimisation d’un système d’information d’aide à la mobilité : une approche multi-agent pour la recherche et la composition des services dans un espace ubiquitaire." Thesis, Ecole centrale de Lille, 2015. http://www.theses.fr/2015ECLI0011/document.
In a context of ubiquitous mobility, different objects are able to interact with users to provide them with innovative services and help them optimize their travel plans. Indeed, the number of users and the number of service providers requested by these users are actively growing. This growth involves an aspect of competition and requires optimized choices. In this context, the aim of this thesis is to design and optimize a mobility aid system that covers not only transport services but also tourist services, cultural services and many others. The research presented in this thesis proposes the establishment of a Plateforme de Recherche et de composition des Services d'Aide à la Mobilité (PRoSAM) to optimize research, composition and distribution tasks of advanced mobility information. The dynamic and distributed aspects of the problem have led us to adopt an agent-oriented modeling approach to cope with the conditions of a ubiquitous environment. Thanks to a dynamic role switching strategy of user agents and an innovative negotiation protocol, customers are able to exchange services autonomously and to establish full or partial agreements in order to optimize communications over the network. Finally, the simulation results presented in this thesis demonstrate the effectiveness of the proposed approaches
Moras, Julien. "Grilles de perception évidentielles pour la navigation robotique en milieu urbain." Phd thesis, Université de Technologie de Compiègne, 2013. http://tel.archives-ouvertes.fr/tel-00866300.
Mani, misenga Rosette. "L’intelligence distribuée dans les objets : étude de cas sur les pratiques des voyageurs des banlieues à la gare parisienne du Nord." Thesis, Rennes 2, 2020. http://www.theses.fr/2020REN20011.
The purpose of this dissertation is to validate the hypothesis of the intelligence distributed in objects through a case study on traveler’s behavior while interacting with technical objects within stations and their relationship with the environment. The analysis centered on the notions of the technical object and derived from the ICS field enable to evolve the problematics on the “memory in technical objects”, by articulating the coupling object-travelers-time-space. The reflection carried by this study proposes to consider the technical objects located in stations as federative elements of intelligences issued from multiple communication artifacts in the collection, the productions and the data diffusion phases. Thus, the technical objects would be intelligent thanks to the crystallization of the collective memory (actors and environment). In the same dynamic, we will try to explore the notion of interactivity (exchanges man-engine), usually studied in its tactile aspect (retroaction by touch), in its visual dimension (retroaction by sight), and its auditive dimension (retroaction by hearing)
Tagne, Fokam Gilles. "Commande et planification de trajectoires pour la navigation de véhicules autonomes." Thesis, Compiègne, 2014. http://www.theses.fr/2014COMP2004/document.
My research focuses on trajectory planning and control of autonomous vehicles. This work is a part of an extremely ambitious project launched by the Heudiasyc laboratory about autonomous driving at high speed (longitudinal speed greater to 5m/s ~= 18 km/h). With regard to the control of autonomous vehicles at high speed, a lateral controler using higher-order sliding mode control is proposed. Given the implicit similarity between the sliding mode and the principle of immersion and invariance, two controllers using the principle of immersion and invariance have been subsequently proposed in order to improve the performance with respect to the sliding mode. The development of these new controllers shows very strong robust stability which leads us to study the intrinsic properties of the system. A study of the passivity properties of the system is also crried out, showing some interesting characteristics of the system. Hence, a robust passivity-based controller has been developed. Regarding the navigation, we have developed two navigation algorithms based on the tentacles method. Subsequently, a feasibility study of trajectory generation strategies for high speed driving is conducted. The outcome of the simulation proved that the algorithms gave out good results with respect to the expected ogjectives of obstacle avoidance and global reference path following. Control and motion planning algorithms developed were validated offline by simulation with real data. They have been also tested on a realistic simulator
Cambolive, Guillaume. "Scrables : un système intelligent d'audit." Toulouse 3, 1993. http://www.theses.fr/1993TOU30237.
Rahmani, Younes. "The Multi-product Location-Routing Problem with Pickup and Delivery." Thesis, Université de Lorraine, 2015. http://www.theses.fr/2015LORR0331/document.
In the framework of Location-Routing Problem (LRP), the main idea is to combine strategic decisions related to the choice of processing centers with tactical and operational decisions related to the allocation of customers to selected processing centers and computing the associated routes. This thesis proposes a new location-routing model to solve problems which are coming from logistics networks, that became nowadays increasingly complex due to the need of resources sharing, in order to integrate the constraints of sustainable development and fuels price, which is increasing irreversibly. More precisely, three aspects have been integrated to generalize the classical LRP models already existed in the literature: 1) pickup and delivery aspect, 2) multi-product aspect, and 3) the possibility to use the processing centers as intermediate facilities in routes. We studied two logistics schemes gives us two new location-routing models: (i) MPLRP-PD (Multi-product LRP with pickup and delivery), which can be viewed as an extension of the vehicle routing problem with pick-up and delivery, including a tactical decision related to the location of processing centers (node with pick-up and delivery), and (ii) 2E-MPLRP-PD (Two-echelon multi-product LRP with pickup and delivery), which is a generalization of the two-echelon LRP. Both models were formalized by mixed integer linear programming (MIP). Solving techniques, based on heuristic methods, clustering approach and meta-heuristic techniques have been proposed to solve the MPLRP-PD and the 2E-MPLRP-PD. The benchmarks from the literature were generalized to test and to validate the proposed algorithms
Laumonier, Julien. "Méthodes d'apprentissage de la coordination multiagent : application au transport intelligent." Thesis, Université Laval, 2008. http://www.theses.ulaval.ca/2008/25482/25482.pdf.
Lefebvre, Sébastien. "Approche monodimensionnelle de la mise en correspondance stéréoscopique par corrélation - Application à la détection d'obstacles routiers." Phd thesis, Université des Sciences et Technologie de Lille - Lille I, 2008. http://tel.archives-ouvertes.fr/tel-00543976.