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Theses

Gestion des aléas dans un système multi-robots

Abstract : Multi-robot systems multiply in our everyday life, for example in service robotics or industrial or agricultural assistance. To make these systems stand-alone and safe, it is essential to embed modules to automatically manage failures, that is, detecting anomalies, evaluating possible causes and deciding on an appropriate response ( Retry, replace the action, replace a component, etc.). The thesis aims at developing generic tools to construct an automatic fault management module, to analyze this module and to validate its behavior. The first ambition is to model the multi-robot system, the reasoning for making a diagnosis and the required safety properties. The work will then focus on the algorithms to construct the fault management module and analyze it. Finally, the tools developed will be validated by being applied to different real and simulated multi-robot scenarios.
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https://hal.laas.fr/tel-03176020
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Submitted on : Monday, March 22, 2021 - 9:47:59 AM
Last modification on : Wednesday, June 9, 2021 - 10:00:22 AM

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  • HAL Id : tel-03176020, version 1

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Valentin Bouziat. Gestion des aléas dans un système multi-robots. Automatique. Institut supérieur de l'aéronautique et de l'espace (ISAE-SUPAERO), 10 avenue Édouard Belin, 31055 Toulouse, 2020. Français. ⟨tel-03176020⟩

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