Tesis sobre el tema "Multi-Robotique"
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Beghdadi, Ayman. "Interactions multi sensorielles entre un système robotique multidimensionnel et multi capteur". Electronic Thesis or Diss., université Paris-Saclay, 2023. http://www.theses.fr/2023UPASG076.
Texto completoIn mixed-reality simulators, immersion quality can only be assessed by means of post-simulation user questionnaires.To overcome this limitation, we propose a system that reproduces a human's ability to perceive its self-motion so that immersion quality can be assessed qualitatively.In our system, the human is replaced by a NAO humanoid robot and a visuo-inertial motion perception model that simulates human visuo-spatial cognitive function.This system raises issues related to the processing of visual and inertial information flows by the visual cortex and the vestibular system, respectively.Therefore, a visual SLAM method that is robust to scene dynamics is proposed to replace the tasks performed by the visual cortex.This method exploits the spatial, semantic and interaction information present in the observed scene to achieve a human-like level of robustness.A database of globally and locally degraded photorealistic images has also been created to make our SLAM method less sensitive to distortions related to the acquisition conditions.The visual and inertial estimates are then integrated into a framework that links our NAO robot to the perceptual model used to determine the motion perceived by the human and thus provide an opinion on the quality of the immersion.This framework then makes it possible to calibrate scenarios for the simulator that guarantee both the restoration of sensation and the physical integrity of the user.Finally, with the aim of optimising immersion, a reinforcement learning method is proposed to optimise the restitution of inertial sensations through the Motion Cueing Algorithm. This new method enables the simulator's robotic platform to better reproduce inertial sensations
Bruyas, Arnaud. "Apport de la fabrication additive multi-matériaux pour la conception robotique". Thesis, Strasbourg, 2015. http://www.theses.fr/2015STRAD045/document.
Texto completoPercutaneous interventional radiology permits the diagnosis or the treatment of cancer tissues thanks to the use of needles and imaging devices. Being minimally invasive, such procedures are beneficial for the patient, but for the radiologist, they are highly complex. In order to assist the physician and remotely control the needle, we propose in this work the design and the manufacturing of multi-material compliant devices by taking advantage of multi-material additive manufacturing. To perform the design of such device, we propose several solutions in terms of kinematics, actuation and sensing. In particular, we developed a new compliant joint, the HSC joint, as well as a new pneumatic actuator for needle insertion. In the end, we demonstrate in the thesis the contributions of multi-material additive manufacturing for medical robotics, by combining all those solutions into a single device that remotely controls both the orientation and the insertion of the needle
Halgand, Christophe. "Référentiels pour l'intégration multi-sensorielle et sensomotrice: une approche neuro-robotique". Phd thesis, Université Paul Sabatier - Toulouse III, 2011. http://tel.archives-ouvertes.fr/tel-00629217.
Texto completoArnoux, Mireille. "Programmation orientée objet et systèmes multi-agents : applications en robotique et en productique". Nice, 1990. http://www.theses.fr/1990NICE4357.
Texto completoPiller, Gérard. "Aspects microtechniques de la conception d'un capteur d'effort multi-directionnel appliqué à la robotique /". [S.l.] : [s.n.], 1992. http://library.epfl.ch/theses/?nr=1054.
Texto completoFraihat, Hossam. "Contribution à la perception visuelle multi-résolution de l’environnement 3D : application à la robotique autonome". Thesis, Paris Est, 2017. http://www.theses.fr/2017PESC1065/document.
Texto completoThe research work, carried out within the framework of this thesis, concerns the development of a system of perception and saliency detection in 3D environment taking advantage from a pseudo-3D representation. Our contribution and the issued concept derive from the hypothesis that the depth of the object with respect to the robot is an important factor in the detection of the saliency. On this basis, a salient vision system of the 3D environment has been proposed, designed and validated on a platform including a robot equipped with a pseudo-3D sensor. The implementation of the aforementioned concept and its design were first validated on the pseudo-3D KINECT vision system. Then, in a second step, the concept and the algorithms have been extended to the aforementioned robotic platform. The main contributions of the present thesis can be summarized as follow: A) A state of the art on the various sensors for acquiring depth information as well as different methods of detecting 2D salience and pseudo 3D. B) Study of pseudo-3D visual saliency system based on benefiting from the development of a robust algorithm allowing the detection of salient objects. C) Implementation of a depth estimation system in centimeters for the Pepper robot. D) Implementation of the concepts and methods proposed on the aforementioned platform. The carried out studies and the experimental validations confirmed that the proposed approaches allow to increase the autonomy of the robots in a real 3D environment
Budhiraja, Rohan. "Multi-body Locomotion : Problem Structure and Efficient Resolution". Thesis, Toulouse, INSA, 2019. http://www.theses.fr/2019ISAT0036.
Texto completoThe locomotion problem in robotics is usually written as a large optimization problem. This problem has many undesirable properties, such as large dimensionality, non-linear and non-convex cos! functions, nonlinear constraints, and so on. These diverse features make direct resolution difficult. A classic approach is to simplify numerical optimization by solving reduced models, built heuristically. As a result, these models have a reduced area of validity and are difficult to extend. Our work explores an approach thal attempts to solve this problem of general locomotion, while fully exploiting itsstructure to obtain an effective and feasible solution. Our goal is to provide effective resolution through the proper use of the problem structure. For this, we have generalized the use of traditional models in locomotion in a formulation th at can solve exactly the initial problem. Our contribution consists of a method for the generation of dynamic movements forthe whole body of the humanoid, by the use of alternating direction method of multipliers. The complete problem is separated into (i) its centroidal part, which is highly constrained and unstable, and is solved by a multiple-shooting SQP, and (ii) its Lagrangian part, which is more stable but larger, and is solved by Differentiai Dynamic Programming (DDP). An efficient implementation of the DDP makes it possible to obtain performances allowing the implementation on the real robot, and a use of the feasibility const! raints ("proxy") makes it possible to en sure the feasibility of the reduced models.Our concepts have been validated empirically by calculating and applying different dynamic motions for the humanoid robot HRP-2, and to the robot Pyrene in simulation
Joyeux, Sylvain. "Un composant logiciel pour la gestion et l'exécution de plan en robotique : application aux systèmes multi-robots". Phd thesis, Toulouse, ISAE, 2007. http://tel.archives-ouvertes.fr/tel-00293982.
Texto completoJuge-Hubert, Didier. "Une approche de la fusion multi-senseurs en robotique mobile : construction d'un modèle cylindrique intégrant les incertitudes". Compiègne, 1993. http://www.theses.fr/1993COMP645S.
Texto completoDichtl, Johann. "On 2D SLAM for Large Indoor Spaces - A Polygon-Based Solution". Thesis, Ecole nationale supérieure Mines-Télécom Lille Douai, 2019. http://www.theses.fr/2019MTLD0006.
Texto completoIndoor SLAM and exploration is an important topic in robotics. Most solutions today work with a 2D grid representation as map model, both for the internal data format and for the output of the algorithm. While this is convenient in several ways, it also brings its own limitations, in particular because of the memory requirements of this map format. In this thesis we introduce PolyMap, a 2D map format aimed at indoor mapping, and PolySLAM, a SLAM algorithm that produces PolyMaps
Schmitt, François. "Méthodes et procédés pour l'assistance à la chirurgie laparoscopique par comanipulation". Thesis, Strasbourg, 2019. http://www.theses.fr/2019STRAD033.
Texto completoThe context of this work is the development of tools in order to improve the tissues stiffness perception for cobot-assisted laparoscopic surgery. During manual procedures, this perception is distorted, notably by the fulcrum effect, due to the kinematic constraints induced by the trocar. This thesis is developed in two parts. In a first part, we study the fulcrum effect and how it distorts the perception of a user manipulating the tool in collaboration with a robot. From this model, we propose a strategy in order to compensate for this distortion. A validation experiment for this strategy is then proposed. In a second part, we discuss the design of a new architecture with RCM kinematics, integrating both structure and actuation for lightweight robotic applications. In this context, we present an approach to design articulated origami systems, manufactured using multi-material processes
Abriat, Patrick. "Conception et réalisation d'un système multi-agent de robotique permettant de récupérer les erreurs dans les cellules flexibles". Compiègne, 1991. http://www.theses.fr/1991COMPD411.
Texto completoBotelho, Silvia. "Une architecture décisionnelle pour la coopération multi-robots". Toulouse, INPT, 2000. http://www.theses.fr/2000INPT023H.
Texto completoGlaser, Norbert. "Contribution à l'acquisition et à la modélisation de connaissances dans un cadre multi-agents : l’approche CoMoMAS". Nancy 1, 1996. http://www.theses.fr/1996NAN10300.
Texto completoFontbonne, Nicolas. "Individual and group learning dynamics in evolutionary collective robotics". Electronic Thesis or Diss., Sorbonne université, 2023. http://www.theses.fr/2023SORUS069.
Texto completoWith their proliferation in industry and daily life, robots are now increasingly required to interact with each other. This thesis deals with the problem of coordination between robots in a context where they have to learn their control policy autonomously. These policies are optimized with machine learning algorithms that take advantage of a reward function to increase performance incrementally. The structure of this function will significantly influence the learning dynamics and, then, the possible behaviours of the agents. We first study systems where agents individually receive a local reward adapted to their actions and must converge towards an optimal collective behaviour. We introduce a distributed evolutionary learning algorithm called Horizontal Information Transfert (HIT) that tackles this particular issue. Agents interact on-line in their environment and must learn their control policy with an embedded evolutionary algorithm and a parameter exchange system. It has the advantage of coping with the limited computation and communication capabilities of low-cost robots, which are often used in swarm robotics. We analyze this algorithm's characteristics and learning dynamics on a foraging task. We then study systems where the reward is given globally to the entire team. Therefore, this evaluation does not necessarily represent each agent's performance, and it can be challenging to calculate an individual contribution. We introduce a centralized cooperative co-evolutionary algorithm (CCEA) that modulates the number of agents' policies modification to find a compromise between evaluation quality and execution speed. This modulation also helps in completing tasks where improving team performance requires multiple agents to update in a synchronized manner. We use a multi-robot resource selection problem and a simulated multi-rover exploration problem to provide experimental validations of the proposed algorithms
NEFTI, SAMIA. "Approche neuro-floue pour la modelisation et la commande des systemes non-lineaires multi-variables application a la robotique". Paris 12, 1999. http://www.theses.fr/1999PA120045.
Texto completoGechter, Franck Joseph Aimé. "Modèle multi-agent réactif pour la fusion de percepts : application à la localisation et au suivi en robotique mobile". Nancy 1, 2003. http://www.theses.fr/2003NAN10110.
Texto completoThe aim of this work is to show how a complex system, that has to resolve a real task, can be designed from single entities with small decision abilities. By contrast with the classical algorithms, which usually stem from the signal or the image processing, we propose a reactive architecture based on reactive multi-agent systems where the interaction phenomenon are inspired by Physics. As for the real task, we choose to deal with the localization and tracking problem. The localization is a tough, wide spread task in mobile robotics. The aim is to design a localization and tracking device able to focus on a variable number of targets. Furthermore, the device has to be able to accomplish its task by using a variable number of sensors, static or mobile in the environment. Our works deals with both the design of the reactive-agent architecture (world representation, resolution process, interpretation of the resulting organization) and its application and evaluation with real robots
Masse, Jean-Thomas. "Capture de mouvements humains par capteurs RGB-D". Thesis, Toulouse 3, 2015. http://www.theses.fr/2015TOU30361/document.
Texto completoSimultaneous apparition of depth and color sensors and super-realtime skeleton detection algorithms led to a surge of new research in Human Motion Capture. This feature is a key part of Human-Machine Interaction. But the applicative context of those new technologies is voluntary, fronto-parallel interaction with the sensor, which allowed the designers certain approximations and requires a specific sensor placement. In this thesis, we present a multi-sensor approach, designed to improve robustness and accuracy of a human's joints positionning, and based on a trajectory smoothing process by temporal integration, and filtering of the skeletons detected in each sensor. The approach has been tested on a new specially constituted database, with a specifically adapted calibration methodology. We also began extending the approach to context-based improvements, with object perception being proposed
Zhang, Lei. "Localisation Markovienne de Systèmes Mono-robot et Multi-robots Utilisant des Echantillons Auto-adaptatifs". Phd thesis, Université Montpellier II - Sciences et Techniques du Languedoc, 2010. http://tel.archives-ouvertes.fr/tel-00491010.
Texto completoVerdu, Titouan. "Schémas de vol adaptatifs pour l'exploration de nuages par une flotte de drones : principe, mise en œuvre et expérimentations". Thesis, Toulouse, INSA, 2020. http://www.theses.fr/2020ISAT0010.
Texto completoAtmospheric scientists are constantly seeking to acquire new data that can improve their models of atmospheric phenomena, especially clouds. Current methods are insufficient to collect adequate measurements of cloud dynamics and microphysical parameters related to cloud formation, generating large uncertainties in model formulation. This lack of in-situ data leads meteorologists to find new collection methods.The use of UAVs is now widespread and many applications are emerging in different contexts. Although the use of a single UAV is very popular, the deployment of UAV fleets is still uncommon and is mainly limited to exploring and mapping unknown static environments. A fleet could find its usefulness in other more complex applications such as the monitoring of dynamic phenomena (e.g. oil puddles on the sea, plumes of smoke from a factory, atmospheric phenomena). Research on the coordination of a UAV fleet and the exploration of dynamic environments is not yet complete and many contributions can be made to the current problems in this field.The objective of this thesis is to provide solutions and strategies to explore a dynamic environment such as the evolution of a cloud with a fleet of UAVs, thus providing better temporal and spatial coverage than with a single UAV. This calls for the development of a UAV control and planning architecture that ensures the cooperation of UAVs to carry out the mission in the best possible way. The constraints associated with this type of environment and mission limit the collective work of the fleet. For robustness and efficiency reasons, the system's mechanisms are implemented in a distributed manner, where the UAVs embark the planning processes and communicate directly with each other, rather than through a single station.This thesis was carried out in close collaboration with the NEPHELAE project which aims to collect data in cumulus clouds in order to reconstruct a 4D spatio-temporal model of its evolution. Knowing that classical flight patterns used in autopilots are not efficient to explore such dynamic environments, the main contribution of this thesis is the development and implementation in the PAPARAZZI system of adaptive flight patterns. These flight patterns use real-time sensor measurements to adapt the UAV trajectories to the cloud to be mapped. This action is performed onboard the UAV and without the intervention of an operator. The drone's behavior changes according to the pattern used, enabling the tracking of the cloud edge, the construction of a dense 3D map or the determination of the cloud core.The validation of these new navigation functions was carried out through different simulations combining UAVs simulated in a static then dynamic cloud environment. Subsequently, a first hybrid experiment was carried out before deploying the fleet during a measurement campaign in Barbados in early 2020. This campaign enabled a large number of exploratory flights and cloud tracking in real conditions. In addition to providing results and suggestions for improvements in adaptive flight patterns, it allowed atmospheric scientists to collect important data on clouds that had not been observed until today. In particular, this experiment made it possible to follow a cloud edge with several UAVs simultaneously, thus achieving a first in terms of data collection in a cloud
Castano, Cano Davinson. "Design of Multi-Axis Resonant Force/Torque Sensor for Robotics". Thesis, Besançon, 2016. http://www.theses.fr/2016BESA2089.
Texto completoWrist force/torque sensors used in robotic applications increase the performances and flexibility of the automated tasks. They also offer new possibilities in the manufacturing process, where physical contact between the work-piece and environment is required. The wide spreading of these sensors is for now restricted by their features. As an alternative to the existing straingauges force sensors, our work presents a resonant composite structure, which is sensitive to multiple components of force that are considered via the pre-stress effect. Structurally bonded piezoelectric patches are used to bring the structure to its resonance, which is shifted according to applied forces. The relationship between force and frequency shift is modelled considering the multi-physics of this smart structure. A prototype was tested and validated
Landau, Samuel. "Des AG1 vers la GA2 Sélection darwinienne et systèmes multi-agents". Paris 6, 2003. http://www.theses.fr/2003PA066382.
Texto completoDoncieux, Stéphane. "Robotique évolutionniste: conception orientée vers le comportement". Habilitation à diriger des recherches, Université Pierre et Marie Curie - Paris VI, 2010. http://tel.archives-ouvertes.fr/tel-00547778.
Texto completoRahimi, Mahya. "Formal approaches to multi-resource sharing scheduling". Thesis, Lyon, 2017. http://www.theses.fr/2017LYSEI129/document.
Texto completoThe objective of scheduling problems is to find the optimal performing sequence for a set of tasks by respecting predefined constraints and optimizing a cost: time, energy, etc. Despite classical approaches, automata models are expressive and also robust against changes in the parameter setting and against changes in the problem specification. Besides, few studies have used formal verification approaches for addressing scheduling problems; yet none of them considered challenging and practical issues such as multi-resource sharing aspect, uncontrollable environment and reaching the optimal schedule in a reasonable time for industrializing the model. The main objective of this thesis is to propose an efficient modeling and solving approach for the scheduling problem, considering multi-resource sharing and potential uncertainty in occurrence of certain events. For this purpose, after an introduction in Chapter 1, Chapter 2 addresses the problem of scheduling through a visual, expressive and formal modeling approach, based on weighted automata and the theory of timed automata. The originality of the proposed approach lies in ability of handling the sharing of multiple resources and proposing an efficient solving approach. The proposed models have the advantage of being directly exploitable by means of formal verification tools. The results are obtained using the UPPAAL tool. To solve the problem, an algorithm is developed based on iterating reachability analysis to obtain sub-optimal makespan. Results show the proposed model and solving approach provides a very promising complexity on the class of studied problems and can be applied to industrial cases. In Chapter 3, a synchronous composition of weighted automata is proposed to solve the scheduling problem by performing an optimal reachability analysis directly on the weighted automata models. In the fourth chapter, various uncontrollable behaviors such as the start time, the duration of the task and the failure occurrence in a scheduling problem are modeled by timed game automata. Then, the problem is solved by performing an optimal strategy synthesis over time in TIGA as a synthesis tool
Gonzalez, Aurélien. "Localisation par vision multi-spectrale. Application aux systèmes embarqués". Phd thesis, INSA de Toulouse, 2013. http://tel.archives-ouvertes.fr/tel-00874037.
Texto completoMouret, Jean-Baptiste. "Pressions sélectives multiples pour l'évolution de réseaux de neurones destinés à la robotique". Paris 6, 2008. http://www.theses.fr/2008PA066640.
Texto completoEvolutionary algoritms have been successfully used to generate controllers for many robots. However, they struggle to design complex artifacts when the fitness is unable to explicitly guide the process. In this thesis, we draw the hypothesis that these problems originate from the use of a single selection pressure, whereas living organisms are subject to many ones. We investigate here th euse of multiobjective evolutionary algorithms to create such multiple gradients in order to evolve neuro-controllers. We first describe how hypotheses about potential intermediate steps can be used by defining a multiobejctive optimization problem in which each objective corresponds to a sub-task. In the lack of any selection pressure, it is also possible to add an objective which encourages an efficient exploration of the neighborhood of current candidate solutions. We consider several possibilities to instantiate this concept for the evolution of neural networks and we conclude that maintaining the diversity of the behaviors, instead of the diversity of the genotype or the ohenotype, is an efficient way to override the deceptiveness of a fitness function. Last, we show that exaptations can be favored by applying a selection pressure on some modules of the generated neural-networks, possibly linked to genotypic modules. We tested these methods on the evolution of neural networks to compute a Boolean function and to control a light-seeking robot. They seem to be applicable to a wide range of evolutionary robotics problems, from complex locomotion to behavior control
Zhang, Lei. "Localisation markovienne de systèmes mono-robot et multi-robots utilisant des échantillons auto-adaptatifs". Thesis, Montpellier 2, 2010. http://www.theses.fr/2010MON20003/document.
Texto completoIn order to achieve the autonomy of mobile robots, effective localization is a necessary prerequisite. In this thesis, we study and compare three regular Markov localization algorithms by simulations. Then we propose an improved Monte Carlo localization algorithm using self-adaptive samples, abbreviated as SAMCL. By employing a pre-caching technique to reduce the on-line computational burden, SAMCL is more efficient than regular MCL. Further, we define the concept of similar energy region (SER), which is a set of poses (grid cells) having similar energy with the robot in the robot space. By distributing global samples in SER instead of distributing randomly in the map, SAMCL obtains a better performance in localization. Position tracking, global localization and the kidnapped robot problem are the three sub-problems of the localization problem. Most localization approaches focus on solving one of these sub-problems. However, SAMCL solves all the three sub-problems together thanks to self-adaptive samples that can automatically separate themselves into a global sample set and a local sample set according to needs. Cooperative localization among multiple robots is carried out by exchanging localization information derived from cooperation. We devise the Position Mapping (PM) algorithm to integrate this information, which can merge into the SAMCL algorithm as an extension. The validity and the efficiency of our algorithms are demonstrated by experiments carried out with a real robot in a structured and known environment
Cadenat, Viviane. "Contribution à la navigation d'un robot mobile par commande référencée multi-capteurs". Habilitation à diriger des recherches, Université Paul Sabatier - Toulouse III, 2011. http://tel.archives-ouvertes.fr/tel-00678488.
Texto completoBoucher, Maxime. "Quelques contributions en localisation et cartographie simultanées multi-capteurs : application à la réalité augmentée". Thesis, Evry-Val d'Essonne, 2014. http://www.theses.fr/2014EVRY0055/document.
Texto completoGathering informations from the images of a camera, over time, in order to map the environment and localize the camera in it, is a task refered to as Simultaneous Localization and Mapping, or SLAM. Developped both by the robotics and computer vision scientific communities, its applications are many. Robots gain autonomy from this ability. Quite recently, impressive results have been obtained in applications to autonomous transportation vehicles. Another field of application is augmented reality. The localization offered by SLAM enables us to display virtual objects in a consistent way a user movements. Thus, cinema, video games, tourisme applications can benefit from SLAM methods. Visual aids to workers performing complex or repetetive tasks is also an interesting application of SLAM methods. During this PhD thesis, we took interest in SLAM with the idea of realistic augmented reality applications in mind. Though the topic has been extensively explored and many impressive results obtained, the task isn't completely solved. The problem is still an open one, regarding spatial facets (drift, loop closure) as well as temporal (processing time). As part of our monocular SLAM explorations, we mainly studied the drift issue. We then explored multisensor SLAM, both as a mean to handle problematical rotational movements for the monocular setup and as mean to reduce the substantial processing times needed to solve the problem
Moulin-Frier, Clement. "Rôle des relations perception-action dans la communication parlée et l'émergence des systèmes phonologiques : étude, modélisation computationnelle et simulations". Phd thesis, Université de Grenoble, 2011. http://tel.archives-ouvertes.fr/tel-00625453.
Texto completoKancir, Pierre. "Méthodologie de conception de système multi-robots : de la simulation à la démonstration". Thesis, Lorient, 2018. http://www.theses.fr/2018LORIS519/document.
Texto completoMulti-robot System Design Methodology : from Simulation to Demonstration Multi-robot systems are complex but promising systems in many fields, the number of academic works in this field underlines the importance they will have in the future. However, while these promises are real, they have not yet been realized, as evidenced by the small number of multi-robot systems used in the industry. However, solutions exist to enable industrialists and academics to work together on this issue. We propose a state of the art and challenges associated with the design of multi-robot systems from an academic and industrial point of view. We then present three contributions for the design of these systems: a realization of a heterogeneous swarm as a practical case study in order to highlight the design obstacles. The modification of an autopilot and a simulator to make them compatible with the development of multi-robot systems. Demonstration of an evaluation tool based on the two previous contributions. Finally, we conclude on the scope of this work and future perspectives based on open source
Thalamy, Pierre. "Distributed algorithms and advanced modeling approaches for fast and efficient object construction using a modular self-reconfigurable robotic system". Thesis, Bourgogne Franche-Comté, 2020. http://www.theses.fr/2020UBFCD027.
Texto completoHumans have always been on a quest to master their environment. But with the arrival of our digital age, an emerging technology now stands as the ultimate tool for that purpose: Programmable Matter. While any form of matter that can be programmed to autonomously react to a stimulus would fit that label, its most promising substrate resides in modular robotic systems. Such robotic systems are composed of interconnected, autonomous, and computationally simple modules that must coordinate through their motions and communications to achieve a complex common goal.Such programmable matter technology could be used to realize tangible and interactive 3D display systems that could revolutionize the ways in which we interact with the virtual world. Large-scale modular robotic systems with up to hundreds of thousands of modules can be used to form tangible shapes that can be rearranged at will. From an algorithmic point of view, however, this self-reconfiguration process is a formidable challenge due to the kinematic, communication, control, and time constraints imposed on the modules during this process.We argue in this thesis that there exist ways to accelerate the self-reconfiguration of programmable matter systems, and that a new class of reconfiguration methods with increased speed and specifically tailored to tangible display systems must emerge. We contend that such methods can be achieved by proposing a novel way of representing programmable matter objects, and by using a dedicated reconfiguration platform supporting self-reconfiguration.Therefore, we propose a framework to apply this novel approach on quasi-spherical modules arranged in a face-centered cubic lattice, and present algorithms to implement self-reconfiguration in this context. We analyze these algorithms and evaluate them on classes of shapes with increasing complexity, to show that our method enables previously unattainable reconfiguration times
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.
Texto completoIndustry 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
You, Yang. "Probabilistic Decision-Making Models for Multi-Agent Systems and Human-Robot Collaboration". Electronic Thesis or Diss., Université de Lorraine, 2023. http://www.theses.fr/2023LORR0014.
Texto completoIn this thesis, using Markov decision models, we investigate high-level decision-making (task-level planning) for robotics in two aspects: robot-robot collaboration and human-robot collaboration.In robot-robot collaboration (RRC), we study the decision problems of multiple robots involved to achieve a shared goal collaboratively, and we use the decentralized partially observable Markov decision process (Dec-POMDP) framework to model such RRC problems. Then, we propose two novel algorithms for solving Dec-POMDPs. The first algorithm (Inf-JESP) finds Nash equilibrium solutions by iteratively building the best-response policy for each agent until no improvement can be made. To handle infinite-horizon Dec-POMDPs, we represent each agent's policy using a finite-state controller. The second algorithm (MC-JESP) extends Inf-JESP with generative models, which enables us to scale up to large problems. Through experiments, we demonstrate our methods are competitive with existing Dec-POMDP solvers.In human-robot collaboration (HRC), we can only control the robot, and the robot faces uncertain human objectives and induced behaviors. Therefore, we attempt to address the challenge of deriving robot policies in HRC, which are robust to the uncertainties about human behaviors. In this direction, we discuss possible mental models that can be used to model humans in an HRC task. We propose a general approach to derive, automatically and without prior knowledge, a model of human behaviors based on the assumption that the human could also control the robot. From here, we then design two algorithms for computing robust robot policies relying on solving a robot POMDP, whose state contains the human's internal state. The first algorithm operates offline and gives a complete robot policy that can be used during the robot's execution. The second algorithm is an online method, i.e., it plans the robot's action at each time step during execution. Compared with the offline approach, the online method only requires a generative model and thus can scale up to large problems. Experiments with synthetic and real humans are conducted in a simulated environment to evaluate these algorithms. We observe that our methods can provide robust robot decisions despite the uncertainties over human objectives and behaviors.In this thesis, our research for RRC provides a foundation for building best-response policies in a partially observable and multi-agent setting, which serves as an important intermediate step for addressing HRC problems. Moreover, we provide more flexible algorithms using generative models in each contribution, and we believe this will facilitate applying our contributions to real-world applications
Dubois, Michel. "MASL, langage de contrôle multi-agents robotiques". Phd thesis, Université de Bretagne Sud, 2008. http://tel.archives-ouvertes.fr/tel-00502455.
Texto completoHugues, Louis. "Apprentissage de comportements pour un robot autonome". Paris 6, 2002. http://www.theses.fr/2002PA066414.
Texto completoCarlési, Nicolas. "Coopération entre véhicules sous-marins autonomes : une approche organisationnelle réactive multi-agent". Thesis, Montpellier 2, 2013. http://www.theses.fr/2013MON20092.
Texto completoUnderwater marine applications are nowadays branching into various fields covering larger and deeper zones. Performing the required tasks with the aid of AUV flotillas is a real challenge. However, the advantages of using such a new technology are numerous. Firstly, this would highly reduce the cost of the mission thanks to the distribution of this former among the various AUV: the loss of one AUV or its bad functioning will not degrade the performance of the flotilla in general. Secondly, the use of a flotilla reduces the execution time of a mission given the parallelization of certain tasks. Finally, any mission can be accomplished by the flotilla by taking into consideration the specificity of each AUV. In fact, each of these vehicles holds different characteristics rendering the global architecture heterogeneous and therefore applicable in different contexts. However, the methods concerned with multi-AUV cooperation are hindered by two main limitations: (1) the number of communications induced and (2) the management of the heterogeneity in the flotilla.The proposed approach aims at responding to these challenges. The principal idea is to combine this reactive cooperational approach with an organizational one. The reactive cooperational approach allows the exchange of simple communication signals. However, it does not help in solving the problems of cooperation that are very constrained and that mainly concern the spatial coordination of homogeneous vehicles. The first contribution in this thesis is the extension of the satisfaction-altruism approach. A new reactive decisional mechanism capable of considering the cooperative actions of various natures is proposed. The second contribution consists in specifying the context of reactive interactions based on an organizational approach. The organizational model Agent/Group/Role is used in order to have an explicit representation of the flotilla. The concepts of "group" and especially "role" are used in the attribution of the communication signals allowing the accomplishment of heterogeneous interactions with a big modularity. A new concept is therefore born and is integrated in a new software architecture called REMORA intended to equip autonomous underwater vehicles. This proposed new method has been validated through various numerical simulations in different scenarios putting at stake heterogeneous AUV
Botero-Galeano, Diego. "Development of algorithms and architectures for driving assistance in adverse weather conditions using FPGAs". Phd thesis, INSA de Toulouse, 2012. http://tel.archives-ouvertes.fr/tel-00771869.
Texto completoDegroote, Arnaud. "Une architecture de contrôle distribuée pour l'autonomie des robots". Phd thesis, Institut National Polytechnique de Toulouse - INPT, 2012. http://tel.archives-ouvertes.fr/tel-00766861.
Texto completoBoumghar, Redouane. "Stratégies d'acquisition d'information pour la navigation autonome coopérative en environnement inconnu". Phd thesis, Ecole nationale superieure de l'aeronautique et de l'espace, 2013. http://tel.archives-ouvertes.fr/tel-01020995.
Texto completoVerstaevel, Nicolas. "Self-organization of robotic devices through demonstrations". Thesis, Toulouse 3, 2016. http://www.theses.fr/2016TOU30060/document.
Texto completoThe AMAS (Adaptive Multi-Agent Systems) theory proposes to solve complex problems for which there is no known algorithmic solution by self-organization. The self-organizing behaviour of the cooperative agents enables the system to self-adapt to a dynamical environment to maintain the system in a functionality adequate state. In this thesis, we apply the theory to the problematic of control in ambient systems, and more particularly to service robotics. Service robotics is more and more taking part in ambient environment, we talk of ambient robotics. Ambient systems have challenging characteristics, such as openness and heterogeneity, which make the task of control particularly complex. This complexity is increased if we take into account the specific, changing and often contradictory needs of users. This thesis proposes to use the principle of self-organization to design a multi-agent system with the ability to learn in real-time to control a robotic device from demonstrations made by a tutor. We then talk of learning from demonstrations. By observing the activity of the users, and learning the context in which they act, the system learns a control policy allowing to satisfy users. Firstly, we propose a new paradigm to design robotic systems under the name Extreme Sensitive Robotics. The main proposal of this paradigm is to distribute the control inside the different functionalities which compose a system, and to give to each functionality the capacity to self-adapt to its environment. To evaluate the benefits of this paradigm, we designed ALEX (Adaptive Learner by Experiments), an Adaptive Multi-Agent System which learns to control a robotic device from demonstrations. The AMAS approach enables the design of software with emergent functionalities. The solution to a problem emerges from the cooperative interactions between a set of autonomous agents, each agent having only a partial perception of its environment. The application of this approach implies to isolate the different agents involved in the problem of control and to describe their local behaviour. Then, we identify a set of non-cooperative situations susceptible to disturb their normal behaviour, and propose a set of cooperation mechanisms to handle them. The different experimentations have shown the capacity of our system to learn in realtime from the observation of the activity of the user and have enable to highlight the benefits, limitations and perspectives offered by our approach to the problematic of control in ambient systems
Boumghar, Redouane. "Stratégies d'acquisition d'information pour la navigation autonome coopérative en environnement inconnu". Thesis, Toulouse, ISAE, 2013. http://www.theses.fr/2013ESAE0017.
Texto completoThe main difficulty of autonomous navigation of a mobile robot in a partially comes from the lack of information about the environment. One can not assure the calculated navigation path is as short and as safe as the path calculated if we had all the necessary information on the environment. Information is gathered along the moves of the mobile robot with a varying degree of certainty. This uncertainty come from the environment itself, the perception abilities and the localisation abilities of the robot. Only relevant information acquisitions can help a good execution of the navigation task.The proposed approach is realised in this context : it consists of a navigation strategy based on the determination of zones where information is necessary for the robot to rally its objective
Schiano, Fabrizio. "Bearing-based localization and control for multiple quadrotor UAVs". Thesis, Rennes 1, 2018. http://www.theses.fr/2018REN1S009/document.
Texto completoThe aim of this Thesis is to give contributions to the state of the art on the collective behavior of a group of flying robots, specifically quadrotor UAVs, which can only rely on their onboard capabilities and not on a centralized system (e.g., Vicon or GPS) in order to safely navigate in the environment. We achieve this goal by giving a possible solution to the problems of formation control and localization from onboard sensing and local communication. We tackle these problems exploiting mainly concepts from algebraic graph theory and the so-called theory of rigidity. This allows us to solve these problems in a decentralized fashion, and propose decentralized algorithms able to also take into account some typical sensory limitations. The onboard capabilities we referred to above are represented by an onboard monocular camera and an inertial measurement unit (IMU) in addition to the capability of each robot to communicate (through RF) with some of its neighbors. This is due to the fact that an IMU and a camera represent a possible minimal, lightweight and inexpensive configuration for the autonomous localization and navigation of a quadrotor UAV
Lucidarme, Philippe. "Apprentissage et adaptation pour des ensembles de robots réactifs coopérants". Phd thesis, Université Montpellier II - Sciences et Techniques du Languedoc, 2003. http://tel.archives-ouvertes.fr/tel-00641563.
Texto completoMoulin-Frier, Clément. "Rôle des relations perception-action dans la communication parlée et l'émergence des systèmes phonologiques : étude, modélisation computationnelle et simulations". Phd thesis, Université de Grenoble, 2011. http://tel.archives-ouvertes.fr/tel-00634591.
Texto completoPicault, Sébastien. "Modèles de comportements sociaux pour les collectivités d'agents et de robots". Phd thesis, Université Pierre et Marie Curie - Paris VI, 2001. http://tel.archives-ouvertes.fr/tel-00851693.
Texto completoGharbi, Mokhtar. "Planification de mouvements et manipulation d'objets par des torses humanoides". Phd thesis, Institut National Polytechnique de Toulouse - INPT, 2010. http://tel.archives-ouvertes.fr/tel-00546271.
Texto completoVaillant, Joris. "Programmation de mouvements de locomotion et manipulation pour robots humanoïdes et expérimentations". Thesis, Montpellier, 2015. http://www.theses.fr/2015MONTS065/document.
Texto completoThis PhD proposes a whole body motion generation approach with non coplanar contacts that allowsa robot to move in an environment, manipulate complex objects or collaborate with differentagents.Methods developed in this PhD try to manage many kinds of robots, from the humanoid to thefixed base manipulator and also handling underactuated objects.Firstly, we address the problem contacts positioning that an underactuated robot should taketo move in its environment.We compute in one non-linear optimization problem a sequence of postures that fulfill aninputed contact list. This formulation allows to find the optimal contact placement regardingprevious and next stances. It also allows to execute a task for some posture while taking into accountthe priority of the motion.Next, we introduce a motion generation method that uses quadratic programming to solveinverse kinematics and dynamics problems for a fixed or mobile base robot under equality andinequality constraints.This motion generation is fast enough to fit the HRP2-10 and HRP4 control loop andcan be used in real-time.With a finite state machine we turn the posture sequence into a list of tasks that should beexecuted by the motion generation to allow a robot to move in a complex environment.We extend this motion generation scheme to compute the motion of an arbitrary number of robots.This extension allows us to manage complex object manipulation tasks, multi-agent collaboration andmotion in a dynamic environment. We can also specify a task in the manipulated object frameto ease motion design.To validate this method on a real robot, we formulate inertial parametersestimation of manipulated objects with spatial vector algebra.Finally, we validate our works on the HRP2-10 and HRP4 robot. On the first one,we validate the posture and mono-robot motion generation on a scenario where the robot climbs anindustry standard vertical ladder.On the second one, we validate object manipulation and inertial parameters estimation
Thomas, Féraud. "Rejeu de chemin et localisation monoculaire : Application du Visual SLAM sur carte peu dense en environnement extérieur contraint". Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2011. http://tel.archives-ouvertes.fr/tel-00696256.
Texto completoNguyen, Thanh-Tin. "Auto-calibration d'une multi-caméra omnidirectionnelle grand public fixée sur un casque". Thesis, Université Clermont Auvergne (2017-2020), 2017. http://www.theses.fr/2017CLFAC060/document.
Texto completo360 degree and spherical multi-cameras built by fixing together several consumer cameras become popular and are convenient for recent applications like immersive videos, 3D modeling and virtual reality. This type of cameras allows to include the whole scene in a single view.When the goal of our applications is to merge monocular videos together into one cylinder video or to obtain 3D informations from environment,there are several basic steps that should be performed beforehand.Among these tasks, we consider the synchronization between cameras; the calibration of multi-camera system including intrinsic and extrinsic parameters (i.e. the relative poses between cameras); and the rolling shutter calibration. The goal of this thesis is to develop and apply user friendly method. Our approach does not require a calibration pattern. First, the multi-camera is initialized thanks to assumptions that are suitable to an omnidirectional camera without a privileged direction:the cameras have the same setting (frequency, image resolution, field-of-view) and are roughly equiangular.Second, a frame-accurate synchronization is estimated from instantaneous angular velocities of each camera provided by monocular Structure-from-Motion.Third, both inter-camera poses and intrinsic parameters are refined using multi-camera Structure-from-Motion and bundle adjustment.Last, we introduce a bundle adjustment that estimates not only the usual parameters but also a subframe-accurate synchronization and the rolling shutter. We experiment in a context that we believe useful for applications (3D modeling and 360 videos):several consumer cameras or a spherical camera mounted on a helmet and moving along trajectories of several hundreds of meters or kilometers