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Calcul dynamique de chemin par des drones autonomes en essaim compact dans le cadre de missions en environnements complexes

Abstract : Drones are major tools today to perform numerous tasks in a wide range of operations, both for military and civil activities. In order to reduce operators’ workload, some parts of the drones’ missions can be automated, until achieving a full autonomy of the platforms, which will reach their mission without any human intervention. Path planning is a major task to achieve autonomy. Indeed, the drones have to detect obstacles while it discovers its environment and dynamically calculate a path avoiding obstacle and allowing to fulfil their mission. In this context, our main contribution is a path planning method for an autonomous drone evolving in complex environment.Furthermore, the variety of tasks one would like to achieve increases quicker than the capacity of a single UAV, therefore one can use a swarm composed of several autonomous platforms. Usage of several drones increases the number and/or the variety of sensors, and the collaboration between them enhance the global system capabilities by supporting some form of resilience. However, swarming introduced new issues, such as communications and drone avoidance. Our path planning method considers these problematics and then, is adapted for drones forming a swarm.
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Ema Falomir Bagdassarian. Calcul dynamique de chemin par des drones autonomes en essaim compact dans le cadre de missions en environnements complexes. Autre [cs.OH]. Université de Bordeaux, 2019. Français. ⟨NNT : 2019BORD0450⟩. ⟨tel-02500580⟩

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