Stratégies de commande collaborative pour des systèmes multi-robot/Agreement strategies for multi-robot systems.
Directeur de thèse : Carlos CANUDAS-DE-WIT
Co-encadrant : Alexandre SEURET
École doctorale : Electronique, electrotechnique, automatique, traitement du signal (EEATS)
Spécialité : Automatique et productique
Structure de rattachement : Université Grenoble Alpes
Établissement d'origine : Université de Reims Champagne Ardenne (URCA)
Financement(s) : Contrat doctoral
Date d'entrée en thèse : 01/10/2009
Date de soutenance : 23/11/2012
Composition du jury :
Sandra Hirche, Full Professor, TUM, Munich, Allemagne, Rapporteur
Christopher Edwards, Full Professor, University of Leicester, Leicester, Royaume-Uni, Rapporteur
Antonio M. Santos Pascoal, Full Professor, IST, Lisboa, Portugal, Rapporteur
Dimos V. Dimarogonas, Assistant Professor KTH, Stockholm, Suède, Examinateur
Mazen Alamir, Directeur de Recherche CNRS/GIPSA-Lab, Grenoble, France, Examinateur
Alexandre Seuret, Chargé de Recherche CNRS/GIPSA-Lab, Grenoble, France, Examinateur
Résumé : This dissertation focuses on distributed agreement strategies for multi-robot systems. First of all, we deal with consensus algorithms for heterogeneous systems, representing, for example, different models or generations of robots. In the sequel, we propose two solutions to improve the connectivity properties of the system. Firstly, we show how to improve the consensus algorithm's convergence rate by modifying the classical control algorithms. More precisely, we apply the stabilizing delay principle and we show how appropriately sampled information can be used in the controller's design. Finally, we design and analyse an algorithm for the compact deployment of agents. In this approach, that increases the number of connections of the graph, the desired configuration of the swarm is entirely specified by the inter-agent angles. The proposed strategy is a completely distributed algorithm, only based on local information that allows swarm's self-organization
