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Contribution to study, dand implementation of intelligent distributed control strategies for collective robotics

Abstract : In this thesis, it concentrated the multi robot team navigating in an unknown environment. In our multi robot team, there is a humanoid robot as a leader and a team of two-wheel nonholonomic robots which form a vertical formation. Besides, a top camera and a computer which is a supervisor are the auxiliary robots in the multi robot team. The main purpose of the thesis is to propose an online and an offline navigation strategy for the closed and open area respectively. The core of navigation strategies is the same and it included path planning part and control part. Both the two parts constructed on the virtual structure of the formation robot team. In the former part, it improved the path planning part by the reinforcement Q learning and the image processing to acknowledge the unknown environment. And it applied the Adaptive Neural Fuzzy Inference System (ANFIS) algorithm to control of both the single nonholonomic robot and formation robot team. Furthermore, the strategies are applied to the formation robot team and the multi robot team in both closed and open environment. Simulations and real experiments are provided in the detail in the thesis. The strong points of the contribution are :- Proposition, conception, realization and experimental validation of machine learning based adaptive control for a nonholonomic single robot (in a group of robots). Four international publications have valorized this part of the doctoral Works. - Proposition, conception, realization and experimental validation of an adaptive intelligent control strategy hybridizing Artificial vision and Machine Learning for a group of nonholonomic homogeneous robots. Two international publications have valorized this part of the doctoral Works.- Proposition, conception, realization and experimental validation of an adaptive intelligent control strategy hybridizing Artificial vision and Machine Learning for a group of heterogeneous robots. Two international publications have valorized this part of the doctoral Works. It is pertinent to emphasize the investigations relative to the above-mentioned works have been awarded by: ″Innovation Award 2011″ of Industrial Robot
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https://theses.hal.science/tel-00794401
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Submitted on : Monday, February 25, 2013 - 5:37:12 PM
Last modification on : Tuesday, October 19, 2021 - 4:08:18 PM
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Ting Wang. Contribution to study, dand implementation of intelligent distributed control strategies for collective robotics. Other. Université Paris-Est, 2012. English. ⟨NNT : 2012PEST1109⟩. ⟨tel-00794401⟩

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