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Coopération Bio-Inspirée de Systèmes Multi-Robots Autonomes by Adouane-L

Coopération Bio-Inspirée de Systèmes Multi-Robots Autonomes

by Adouane-L
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Book cover type: Paperback
  • ISBN13: 9786131505621
  • Binding: Paperback
  • Subject: N/A
  • Publisher: Omniscriptum
  • Publisher Imprint: Omniscriptum
  • Publication Date:
  • Pages: 252
  • Original Price: GBP 65.0
  • Language: French
  • Edition: N/A
  • Item Weight: 372 grams
  • BISAC Subject(s): Automotive

Contrôler un système multi-robots à grande dynamique d'interaction est un challenge à la fois scientifique et technologique en pleine effervescence. Ceci exige non seulement d'utiliser des entités robotiques les plus élémentaires possibles mais nécessite de surcroit de s'éloigner davantage des conceptions centralisées et cognitives du contrôle. Les travaux de recherche présentés dans ce manuscrit partent du principe d'une conception ascendante (Bottom-Up) des architectures de contrôle et ce afin de briser la complexité inhérente aux systèmes multi-robots. Plus spécifiquement, nous proposons un Processus de Sélection d'Action Hiérarchique et Hybride (PSAH-Hybride) qui permet à l'échelle du robot de coordonner d'une manière hiérarchique et flexible l'activité d'un ensemble de primitives élémentaires (comportements), et à l'échelle du groupe de robots d'atteindre une coordination favorisant des buts globaux. Le formalisme des algorithmes génétiques a été par la suite utilisé pour l'optimisation paramétrique du PSAH-Hybride. La validation des résultats s'est faite en utilisant un groupe de mini-robots ALICE mais également via un ensemble d'études statistiques sur le simulateur MiRoCo.

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