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Conception, modélisation et vérification formelle d’un système temps-réel d’agents coopératifs : application aux véhicules autonomes communicants

Abstract : This thesis is motivated by the question of the validation of properties in a system composed of several mobile agents individually making decisions in real time. Each agent has a perception of their own environment and can communicate with other agents nearby. The application that has been chosen as a case study is that of autonomous vehicles, which because of the large number of variables involved in the representation of such systems, makes naive approaches impossible. The issues addressed concern, on the one hand, the modeling of such a system, in particular the choice of the formalism and the level of abstraction of the model, and on the other hand, the implementation of an evaluation protocol of decision making of vehicles. This last point includes the question of the efficiency of the exploration of the state space of the model. The thesis presents a set of works, which can be complementary, aiming to treat these problems. First, the system, consisting of autonomous vehicles and their environment, is precisely defined. It allows in particular to observe the impact of communications between vehicles on their behavior. The VerifCar software framework dedicated to decision-making analysis of communicating autonomous vehicles is then presented. It includes a parametric model of timed automata with the ability to check temporal logic properties. An analysis methodology using these properties is presented. A complementary approach is also proposed, which in some cases allows for greater efficiency and greater expressiveness. It is based on the formalism of MAPTs (Multi-Agent with timed Periodic Tasks), which was designed for modeling real-time systems of cooperative agents. Algorithms allowing a dynamic exploration of the states of this type of model (that is to say without the state space having to be built beforehand) are presented. Finally, a combined method combining simulation and model verification tools to control the level of realism is described and applied to the case study.
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Johan Arcile,. Conception, modélisation et vérification formelle d’un système temps-réel d’agents coopératifs : application aux véhicules autonomes communicants. Calcul formel [cs.SC]. Université Paris-Saclay, Université d'Evry Val-d'Essonne, 2019. Français. ⟨NNT : 2019SACLE029⟩. ⟨tel-02480653⟩

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