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Contrôle coopératif des systèmes multi-agents dans un réseau en cluster

Abstract : The study of Multi-robot systems has been widely investigated in recent years. In general, a multi-robot system can be considered as a team of autonomous mobile robots (MR) or Unmanned area Vehicle (UAV) or mix of UAV and MR, with sensing and processing capability, each of which is connected to the others through a communication network in order to achieve the global goals of the system. The objective of this thesis is to develop distributed estimation strategy for groups of robots that communicate locally via a communication network and cooperate to achieve a task. From a research standpoint, this thesis considers situation in which the cooperating robots have a limited, local knowledge of the environment and of the group, as opposed to a 'centralized' scenario, where all the robots have access to the complete information. The typical challenge in this case to design observers that achieve good estimation performances without robot test-bed, which will serve as a benchmark for the proposed estimation strategies and as a research and demonstration tool for other projects. Several applications can be considered, in agriculture, security and safety services, military and so on.
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Contributor : Nicolas Passat <>
Submitted on : Sunday, January 17, 2021 - 4:18:07 PM
Last modification on : Monday, January 18, 2021 - 3:03:56 AM


  • HAL Id : tel-03112777, version 1



van Thiem Pham. Contrôle coopératif des systèmes multi-agents dans un réseau en cluster. Automatique / Robotique. Université de Reims Champagne-Ardenne, 2021. Français. ⟨tel-03112777⟩



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