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Modèle multi-agent réactif pour la fusion de percepts : application à la localisation et au suivi en robotique mobile

Abstract : The 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.
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Theses
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http://docnum.univ-lorraine.fr/prive/SCD_T_2003_0110_GECHTER.pdf
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https://hal.univ-lorraine.fr/tel-01746820
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Submitted on : Thursday, March 29, 2018 - 10:45:28 AM
Last modification on : Wednesday, October 14, 2020 - 3:48:55 AM

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  • HAL Id : tel-01746820, version 1

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Franck Joseph Aimé Gechter. Modèle multi-agent réactif pour la fusion de percepts : application à la localisation et au suivi en robotique mobile. Autre [cs.OH]. Université Henri Poincaré - Nancy 1, 2003. Français. ⟨NNT : 2003NAN10110⟩. ⟨tel-01746820⟩

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