79 3.7.1 Classes de graphes et communications réussies, p.81 ,
82 3.7.4.1 Un sommet peut être joint en retour à un moment donné 83 3.7.4.2 Un sommet peut toujours être joint en retour sommets peuvent être joints en retour à un moment donné, p.84 ,
136 High Altitude, Long Endurance, p.136 ,
138 6.1.3.1 Flottes évoluant en intérieur, p.147 ,
151 6.2.2.1 L'autopilote, une ressource critique, p.153 ,
Cette procédure présente des risques de percuter un autre drone ,
Temps de transmission et dérives d'horloge On a alors une horloge plus " lente " (resp. plus " rapide " ) que le temps réel. L'accumulation de ces erreurs entraîne une dérive d'horloge (fig, p.209 ,
est significatif que pour de (très) grandes valeurs de ?, correspondant à des scénarios avec de courts temps de transmission et de longues durées avant retransmission d'une information. Considérons que l'erreur d'horloge faite chaque seconde soit de l'ordre de 10 ?5 sec et que le délai de transmission soit d'environ 10 ?4 sec. Pour se tromper d'une seconde, il faudrait que l'information reste 10 5 sec (environ 27 heures) sur un même noeud ou qu'elle soit échangée 10 4 fois au sein du réseau avant d'arriver à un noeud (ou une combinaison des deux). [1] IEEE Standard for Information Technology -Telecommunications and Information Exchange Between Systems -Local and Metropolitan Networks -Specific Requirements -Part 11 : Wireless LAN Medium Access Control (MAC) and Physical Layer (PHY) Specifications -Spectrum and Transmit Power Management Extensions in the 5 GHz Band in Europe, IEEE Std Edn, vol.802, pp.11-2003, 1999. ,
Distributed Computation of a Spanning Tree in a Dynamic Graph by Mobile Agents, 2006 IEEE International Conference on Engineering of Intelligent Systems, pp.1-6, 2006. ,
DOI : 10.1109/ICEIS.2006.1703205
Real-world performance of current proactive multi-hop mesh protocols, 2009 15th Asia-Pacific Conference on Communications, pp.44-47, 2009. ,
DOI : 10.1109/APCC.2009.5375690
Modèle de calcul, primitives, et application de référence pour le domaine des réseaux ad hoc fortement mobiles, 2010. ,
Local and global properties in networks of processors (Extended Abstract), Proceedings of the twelfth annual ACM symposium on Theory of computing , STOC '80, pp.82-93, 1980. ,
DOI : 10.1145/800141.804655
Computation in networks of passively mobile finite-state sensors, Distributed Computing, vol.13, issue.4, pp.235-253, 1007. ,
DOI : 10.1007/s00446-005-0138-3
Une solution pour l'établissement non planifié de groupes sécurisés permettant des communications sûres dans les réseaux MANets purs, Laboratoires XLIM & LaBRI, 2008. ,
Delay Tolerant Dynamic Data Collection over a Sensor Network, MILCOM 2007, IEEE Military Communications Conference, 2007. ,
DOI : 10.1109/MILCOM.2007.4454999
A Tactical Active Information Sharing System for Military Manets, MILCOM 2006, 2006. ,
DOI : 10.1109/MILCOM.2006.302026
An Experimental Validation of a Robust Controller with the VAIMOS Autonomous Sailboat, Robotic Sailing 2012, pp.73-84, 2013. ,
DOI : 10.1007/978-3-642-33084-1_7
URL : https://hal.archives-ouvertes.fr/hal-00746061
From local computations to asynchronous message passing systems, 2002. ,
Group health management of UAV teams with applications to persistent surveillance, 2008 American Control Conference, pp.3145-3150, 2008. ,
DOI : 10.1109/ACC.2008.4586976
Agent capability in persistent mission planning using approximate dynamic programming, Proceedings of the 2010 American Control Conference, pp.1623-1628, 2010. ,
DOI : 10.1109/ACC.2010.5531611
IBOAT: An autonomous robot for long-term offshore operation, MELECON 2008, The 14th IEEE Mediterranean Electrotechnical Conference, pp.323-329, 2008. ,
DOI : 10.1109/MELCON.2008.4618455
The paparazzi solution, Proceedings of Second US-Eurpoean Competition & Workshop on Micro Air Vehicles (MAV-06), 2006. ,
URL : https://hal.archives-ouvertes.fr/hal-01004157
A survey of missions for unmanned undersea vehicles, 2009. ,
Towards Autonomous Micro UAV Swarms, Journal of Intelligent & Robotic Systems, vol.37, issue.7, pp.339-353, 2011. ,
DOI : 10.1007/s10846-010-9492-x
Instantaneous autonomous aerial reconnaissance for civil applications : A UAV based approach to support security and rescue forces, ICONS 2011 The Sixth International Conference on Systems, 2011. ,
SUAAVE : Combining Aerial Robots and Wireless Networking, 25th Bristol International UAV Systems Conference, 2010. ,
A survey of mobility models for ad hoc network research, WCMC) : SPECIAL ISSUE ON MOBILE AD HOC NETWORKING : RESEARCH, TRENDS AND APPLICATIONS, pp.483-502, 2002. ,
DOI : 10.1002/wcm.72
Contribution à l'Algorithmique Distribuée dans les Réseaux Mobiles Ad Hoc -Calculs Locaux et Réétiquetages de Graphes Dynamiques, 2007. ,
The JBotSim library. CoRR, abs, 1001. ,
URL : https://hal.archives-ouvertes.fr/hal-00854260
Biconnecting a network of mobile robots using virtual angular forces, Proceedings of the 72nd IEEE Vehicular Technology Conference, 2010. ,
URL : https://hal.archives-ouvertes.fr/hal-00854275
Characterizing Topological Assumptions of Distributed Algorithms in Dynamic Networks, Proceedings of 16th Intl. Conference on Structural Information and Communication Complexity (SIROCCO'09), 2009. ,
DOI : 10.1145/72981.72982
URL : https://hal.archives-ouvertes.fr/hal-00408054
Distributed computing in dynamic networks : Towards a framework for automated analysis of algorithms. CoRR, abs/1102, 2011. ,
Distributed Maintenance of Anytime Available Spanning Trees in Dynamic Networks, LaBRI, 2009. ,
DOI : 10.1007/978-3-642-39247-4_9
URL : https://hal.archives-ouvertes.fr/hal-00376701
Time-varying graphs and dynamic networks, International Journal of Parallel, 2012. ,
DOI : 10.1080/17445760.2012.668546
URL : https://hal.archives-ouvertes.fr/hal-00847001
Algorithmique Distribuée, Calculs Locaux et Homomorphismes de Graphes, 2006. ,
Local Terminations and Distributed Computability in Anonymous Networks, Proceedings of the 22nd International Symposium on Distributed Computing, DISC'08, pp.47-62, 2008. ,
DOI : 10.1007/978-3-540-87779-0_4
URL : https://hal.archives-ouvertes.fr/hal-00332759
A Bridge Between the Asynchronous Message Passing Model and Local Computations in Graphs, Mathematical Foundations of Computer Science, pp.212-223, 2005. ,
DOI : 10.1007/11549345_19
URL : https://hal.archives-ouvertes.fr/hal-00308135
An efficient message passing election algorithm based on Mazurkiewicz's algorithm, Fundamenta Informaticae, vol.80, issue.1-3, pp.221-246, 2007. ,
Secure cooperative ad hoc applications within UAV fleets position paper, MILCOM 2009, 2009 IEEE Military Communications Conference, pp.1-7, 2009. ,
DOI : 10.1109/MILCOM.2009.5379819
URL : https://hal.archives-ouvertes.fr/hal-00406478
CARUS, an operational retasking application for a swarm of autonomous UAVs: First return on experience, 2011, MILCOM 2011 Military Communications Conference, pp.2003-2010, 2011. ,
DOI : 10.1109/MILCOM.2011.6127613
Random Walks, Interacting Particles, Dynamic Networks: Randomness Can Be Helpful, Structural Information and Communication Complexity, pp.1-14, 2011. ,
DOI : 10.1007/s00453-003-1030-9
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.433.2069
Snap-stabilizing PIF and useless computations, 12th International Conference on Parallel and Distributed Systems, (ICPADS'06), pp.39-48, 2006. ,
DOI : 10.1109/ICPADS.2006.100
Coalescing random walks and voter model consensus times on the torus in Zd. The Annals of Probability, pp.1333-1366, 1989. ,
AirShield: A system-of-systems MUAV remote sensing architecture for disaster response, 2009 3rd Annual IEEE Systems Conference, pp.196-200, 2009. ,
DOI : 10.1109/SYSTEMS.2009.4815797
Cognitive Agent Mobility for Aerial Sensor Networks, IEEE Sensors Journal, vol.11, issue.11, pp.2671-2682, 2011. ,
DOI : 10.1109/JSEN.2011.2159489
Protocol Design and Delay Analysis for a MUAV-Based Aerial Sensor Swarm, 2010 IEEE Wireless Communication and Networking Conference, pp.1-6, 2010. ,
DOI : 10.1109/WCNC.2010.5506428
Energy-aware coverage control with docking for robot teams, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3667-3672, 2011. ,
DOI : 10.1109/IROS.2011.6094977
Termination detection for diffusing computations, Information Processing Letters, vol.11, issue.1, pp.1-4, 1980. ,
DOI : 10.1016/0020-0190(80)90021-6
Self-stabilizing systems in spite of distributed control, Communications of the ACM, vol.17, issue.11, pp.643-644, 1974. ,
DOI : 10.1145/361179.361202
Cooperative Electronic Chaining Using Small Unmanned Aircraft, AIAA Infotech@Aerospace 2007 Conference and Exhibit, 2007. ,
DOI : 10.2514/6.2007-2746
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.531.818
Maintaining optimal communication chains in robotic sensor networks using mobility control, First International Conference on Robot Communication and Coordination (ROBOCOMM), pp.15-17, 2007. ,
SuperStabilizing protocols for dynamic distributed systems, Proceedings of the fourteenth annual ACM symposium on Principles of distributed computing , PODC '95, 1997. ,
DOI : 10.1145/224964.224993
Enabling mobility in heterogeneous wireless sensor networks cooperating with uavs for missioncritical management, 2008. ,
Building a reference combinatorial model for MANETs, IEEE Network, vol.18, issue.5, pp.24-29, 2004. ,
DOI : 10.1109/MNET.2004.1337732
Task planning and control for a multi-UAV system: architecture and algorithms, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1017-1022, 2005. ,
DOI : 10.1109/IROS.2005.1545217
Applications of hybrid reachability analysis to robotic aerial vehicles, The International Journal of Robotics Research, vol.43, issue.7, pp.335-354, 2011. ,
DOI : 10.1177/0278364910387173
Termination Detection of Distributed Algorithms by Graph Relabelling Systems, Graph Transformation, pp.106-119, 2002. ,
DOI : 10.1007/3-540-45832-8_10
Termination detection of local computations, 2009. ,
URL : https://hal.archives-ouvertes.fr/hal-00446554
Cooperative Systems, volume 588 of Lecture Notes in Economics and Mathematical Systems, chapter A Distributed System for Collaboration and Control of UAV Groups : Experiments and Analysis, pp.139-156, 2007. ,
An innovative approach of the surface layer sampling, Journal des Sciences Halieutique et Aquatique, vol.4, pp.105-109, 2011. ,
URL : https://hal.archives-ouvertes.fr/hal-00690782
Disruption-tolerant content-driven information dissemination in partially connected military tactical radio networks, MILCOM 2009, 2009 IEEE Military Communications Conference, pp.1-7, 2009. ,
DOI : 10.1109/MILCOM.2009.5379983
URL : https://hal.archives-ouvertes.fr/hal-00452208
Evolutionary Synthesis of Communication-Based Aerial Swarms, 2010. ,
Beat-Based Synchronization and Steering for Groups of Fixed-Wing Flying Robots, Proceedings of the 10th International Symposium on Distributed Autonomous Robotics Systems, 2010. ,
DOI : 10.1007/978-3-642-32723-0_21
Communication-based leashing of real flying robots, 2010 IEEE International Conference on Robotics and Automation, pp.15-20, 2010. ,
DOI : 10.1109/ROBOT.2010.5509421
Multi-UAV Cooperative Fault Detection Employing Vision-Based Relative Position Estimation, Proceedings of the 17th IFAC World Congress, pp.12093-12098, 2008. ,
DOI : 10.3182/20080706-5-KR-1001.02048
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.301.5524
Precision flight control for a multi-vehicle quadrotor helicopter testbed, Control Engineering Practice, vol.19, issue.9, pp.1023-1036, 2011. ,
DOI : 10.1016/j.conengprac.2011.04.005
Real-time indoor autonomous vehicle test environment, IEEE Control Systems Magazine, vol.28, issue.2, pp.51-64, 2008. ,
DOI : 10.1109/MCS.2007.914691
Cellular Automata : A Discrete Universe, World Scientific, 2001. ,
DOI : 10.1142/4702
7498 Information Processing System-Open System Interconnections-Basic Reference Model, 1983. ,
Optimized link state routing protocol (OLSR), 2003. ,
URL : https://hal.archives-ouvertes.fr/inria-00471712
Dynamic source routing in ad hoc wireless networks. Mobile computing, pp.153-181, 1996. ,
Performance evaluation of AODV and OLSR in highly fading vehicular ad hoc network environments, 2009 IEEE 13th International Multitopic Conference, pp.1-5, 2009. ,
DOI : 10.1109/INMIC.2009.5383121
An Algorithmic Theory of Mobile Agents, Trustworthy Global Computing, pp.86-97, 2007. ,
DOI : 10.1007/978-3-540-75336-0_6
The Byzantine Generals Problem, ACM Transactions on Programming Languages and Systems, vol.4, issue.3, pp.382-401, 1982. ,
DOI : 10.1145/357172.357176
Authority sharing in a swarm of uavs : Simulation and experiments with operators. Simulation, Modeling, and Programming for Autonomous Robots, pp.293-304, 2008. ,
URL : https://hal.archives-ouvertes.fr/inria-00332521
Dealing with midair collisions in dense collective aerial systems, Journal of Field Robotics, vol.15, issue.4, pp.405-423, 2011. ,
DOI : 10.1002/rob.20385
Graph relabelling systems and distributed algorithms. In Handbook of graph grammars and computing by graph transformation, World scientific, pp.1-56, 2001. ,
URL : https://hal.archives-ouvertes.fr/hal-00307042
Different local controls for graph relabeling systems, Mathematical Systems Theory, vol.33, issue.1, pp.41-65, 1995. ,
DOI : 10.1007/BF01294595
Strengthening Topological Conditions for Relabeling Algorithms in Evolving Graphs, 2012. ,
URL : https://hal.archives-ouvertes.fr/hal-00743565
Solvability of the asynchronous ranking problem, Information Processing Letters, vol.28, issue.5, pp.221-224, 1988. ,
DOI : 10.1016/0020-0190(88)90193-7
Cooperative Grasping and Transport Using Multiple Quadrotors, Proceedings of the International Symposium on Distributed Autonomous Robotic Systems, 2010. ,
DOI : 10.1007/978-3-642-32723-0_39
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.296.2699
The GRASP Multiple Micro-UAV Testbed, IEEE Robotics & Automation Magazine, vol.17, issue.3, pp.56-65, 2010. ,
DOI : 10.1109/MRA.2010.937855
Collaborative mapping of an earthquakedamaged building via ground and aerial robots, Journal of Field Robotics, issue.5, pp.29832-841, 2012. ,
Persistent surveillance with a team of MAVs, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2708-2714, 2011. ,
DOI : 10.1109/IROS.2011.6095174
Quadrocopter ball juggling, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.5113-5120, 2011. ,
DOI : 10.1109/IROS.2011.6094506
Swarmav : A swarm of miniature aerial vehicles, Proceedings of the 21st Bristol International UAV Systems Conference, 2006. ,
The distributed flight array, IEEE International Conference on Robotics and Automation (ICRA), pp.601-607, 2010. ,
DOI : 10.1016/j.mechatronics.2010.08.003
URL : http://e-collection.ethbib.ethz.ch/show?type=diss&nr=21157
Determining the optimal configuration for the zone routing protocol, IEEE Journal on Selected Areas in Communications, vol.17, issue.8, pp.1395-1414, 1999. ,
DOI : 10.1109/49.779922
Lanmar : landmark routing for large scale wireless ad hoc networks with group mobility, Proceedings of the 1st ACM international symposium on Mobile ad hoc networking & computing, pp.11-18, 2000. ,
Highly dynamic Destination-Sequenced Distance-Vector routing (DSDV) for mobile computers, ACM SIGCOMM Computer Communication Review, vol.24, issue.4, pp.234-244, 1994. ,
DOI : 10.1145/190809.190336
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.113.555
Ad-hoc on-demand distance vector routing, Second IEEE Workshop on Mobile Computing Systems and Applications, 1999. Proceedings. WMCSA'99, pp.90-100, 1999. ,
Token Traversal Strategies of a Distributed Spanning Forest Algorithm in Mobile Ad Hoc - Delay Tolerant Networks, Springer, editor, pp.96-109, 2009. ,
DOI : 10.1007/978-3-642-10392-6_10
Petri nets : an introduction, 1985. ,
Link quality dependent mobility strategies for distributed aerial sensor networks, 2010 IEEE Globecom Workshops, pp.1783-1787, 2010. ,
DOI : 10.1109/GLOCOMW.2010.5700248
Robustesse et émergence dans les systèmes complexes, 2008. ,
Decentralized Control of Unmanned Aerial Vehicle Collaborative Sensing Missions, 2007 American Control Conference, 2007. ,
DOI : 10.1109/ACC.2007.4282397
A study of MANET routing protocols: Joint node density, packet length and mobility, The IEEE symposium on Computers and Communications, pp.515-520, 2010. ,
DOI : 10.1109/ISCC.2010.5546763
Planification probabiliste hiérarchique : méta-effets et coopération multiengins, 2009. ,
Feasiblity of motion primitives for choreographed quadrocopter flight, Proceedings of the 2011 American Control Conference, pp.3843-3849, 2011. ,
DOI : 10.1109/ACC.2011.5991482
A platform for dance performances with multiple quadrocopters, Workshop on Robots and Musical Expressions WRME at IROS, 2010. ,
Autonomous indoor 3D exploration with a micro-aerial vehicle, 2012 IEEE International Conference on Robotics and Automation, pp.9-15, 2012. ,
DOI : 10.1109/ICRA.2012.6225146
A generative approach of graph relabeling systems, 1993. ,
History and Recent Developments in Robotic Sailing, Robotic Sailing, pp.3-23, 2011. ,
DOI : 10.1007/978-3-642-22836-0_1
Position-based routing in ad hoc networks, IEEE Communications Magazine, vol.40, issue.7, pp.128-134, 2002. ,
DOI : 10.1109/MCOM.2002.1018018
Controlled mobility in sensor networks, 2009. ,
Collaborative sensing by unmanned aerial vehicles, the 3rd International Workshop on Agent Technology for Sensor Networks, pp.13-16, 2009. ,
Decentralized formation control with variable shapes for aerial robots, 2012 IEEE International Conference on Robotics and Automation, pp.23-30, 2012. ,
DOI : 10.1109/ICRA.2012.6225196
Uavs-current situation and considerations for the way forward, 2000. ,
Theory of self-reproducing automata, 1966. ,
Probabilistic search with agile UAVs, 2010 IEEE International Conference on Robotics and Automation, pp.2840-2845, 2010. ,
DOI : 10.1109/ROBOT.2010.5509962
URL : http://hdl.handle.net/10547/279176
Supporting Search and Rescue Operations with UAVs, 2010 International Conference on Emerging Security Technologies, pp.142-147, 2010. ,
DOI : 10.1109/EST.2010.31
Real-time onboard visualinertial state estimation and self-calibration of MAVs in unknown environments, IEEE International Conference on Robotics and Automation (ICRA), 2012, pp.957-964, 2012. ,
Monocular-SLAM-based navigation for autonomous micro helicopters in GPS-denied environments, Journal of Field Robotics, vol.22, issue.1, pp.854-874, 2011. ,
DOI : 10.1002/rob.20412
OSI Reference Model--The ISO Model of Architecture for Open Systems Interconnection, IEEE Transactions on Communications, vol.28, issue.4, pp.425-432, 1980. ,
DOI : 10.1109/TCOM.1980.1094702
AirRobot Products, 2012. ,
Ardupilot (legacy) home page. http://diydrones.com/profiles/ blogs/ardupilot-main-page. Dernière consultation le, 2012. ,
Supervising Swarm Intelligence Dernière consultation le 11 novembre 2012. [w121] University of California C3UV. Center for Collaborative Control of Unmanned Vehicles ,
The JBotSim Library ,
URL : https://hal.archives-ouvertes.fr/hal-00854260
Site internet du produit AR.Drone ,
https://www.gumstix.com/store/product_info.php? products_id=211, Overo Earth COM ,
Guerre des mines : des drones navals au service du déminage, Dernière consultation le 11 novembre 2012. [w129] Goulven Hamel ,
ViSiDiA : From theoretical research to appplicative experimentation ,
ARCAS Project web site ,
AWARE Project web site. http://www.aware-project ,
COMETS Project web site ,
Sea shepherd intercepte la flotte de baleiniers japonais avec des drones, 2011. ,
Flying Machine Enabled Construction ,
Infrastructure of the Flying Machine Arena ,