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Статті в журналах з теми "Multi-Robotique":
SARAYDARYAN, Jacques, Fabrice JUMEL, and Olivier SIMONIN. "Patrouille multi-agent dynamique, application robotique pour le service de personnes mobiles." Revue d'intelligence artificielle 31, no. 4 (August 28, 2017): 379–400. http://dx.doi.org/10.3166/ria.31.379-400.
Дисертації з теми "Multi-Robotique":
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.
In 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.
Percutaneous 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.
Arnoux, Mireille. "Programmation orientée objet et systèmes multi-agents : applications en robotique et en productique." Nice, 1990. http://www.theses.fr/1990NICE4357.
Piller, 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.
Fraihat, 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.
The 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.
The 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.
Juge-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.
Dichtl, 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.
Indoor 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