caor@mines-paristech.fr

Ph.D. Defense – Jean Gregoire

 The lab is pleased to announce the Ph.D. defense of Jean Gregoire which take place on september, monday 29 at 3H30 PM, in room L109.


Title : Priority-based coordination of mobile robots

Date: lundi 29 septembre 2014 à 15h30
Place: 60 boulevard saint-michel, 75006, Paris – L109
Advisor: Arnaud DE LA FORTELLE

Jury:

  • Silvère BONNABEL Assistant Professor MINES ParisTech co-director
  • Domitilla DEL VECCHIO Associate Professor MIT Examiner
  • Arnaud DE LA FORTELLE Professor MINES ParisTech Director
  • Thierry FRAICHARD Assistant Professor, HDR INRIA Grenoble Rhône-Alpes Examiner
  • Emilio FRAZZOLI Professor MIT Examiner
  • Denis GILLET Assistant Professor EPFL Examiner
  • Jean-Paul LAUMOND Director of Research LAAS-CNRS Examiner

 

Keywords : mobile robots, motion planning, coordination, multi robot systems, robustness, three-layer architecture

Abstract

Since the end of the 1980’s, the development of self-driven autonomous vehicles is an intensive research area in most major industrial countries. Positive socio-economic potential impacts include a decrease of crashes, a reduction of travel times, energy efficiency improvements, and a reduced need of costly physical infrastructure. Some form of vehicle-to-vehicle and/or vehicle-to-infrastructure cooperation is required to ensure a safe and efficient global transportation system. This thesis deals with a particular form of cooperation by studying the problem of coordinating multiple mobile robots at an intersection area. Most of coordination systems proposed in previous work consist of planning a trajectory and to control the robots along the planned trajectory: that is the plan-as-program paradigm where planning is considered as a generative mechanism of action. The approach of the thesis is to plan priorities – the relative order of robots to go through the intersection – which is much weaker as many trajectories respect the same priorities. Then, priorities are merely used as a coordination resource to guide robots through the intersection. Once priorities are assigned, robots are controlled through a control law preserving the assigned priorities. It results in a more robust coordination system – able to handle a large class of unexpected events in a reactive manner – particularly well adapted for an application to the coordination of autonomous vehicles at intersections where cars, public transport and pedestrians share the road.

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