Une architecture réactive pour la localisation en robotique mobile
Identifieur interne : 006829 ( Hal/Curation ); précédent : 006828; suivant : 006830Une architecture réactive pour la localisation en robotique mobile
Auteurs : Franck Gechter [France] ; Vincent Chevrier [France] ; François Charpillet [France]Source :
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Abstract
La localisation d'objets est une tâche assez délicate et essentielle dès lors que l'on veut utiliser des robots mobiles. Elle peut être définie comme étant l'action de trouver la position d'un objet, mobile ou fixe, par rapport à un référentiel connu. En alternative aux méthodes classiquement utilisées qui sont généralement issues du traitement du signal, nous proposons une architecture réactive s'appuyant sur des phénomènes physiques d'interaction. Notre objectif est de construire un dispositif de localisation et de suivi d'éléments mobiles, en nombre quelconque, dans un environnement structuré, partiellement connu et de taille non limitée, à partir de d'un nombre variable de capteurs mobiles ou fixes disposés dans l'environnement. || Localization is a tough, wide spread task in mobile robotics. It can be defined as the action to determine the position of an object considering a reference coordinate system. By contrast with the classical algorithms, which usually stem from the signal o
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type="indirect"><org type="institution" xml:id="struct-300291" status="OLD"><orgName>Université Henri Poincaré - Nancy 1</orgName><orgName type="acronym">UHP</orgName><date type="end">2011-12-31</date><desc><address><addrLine>24-30 rue Lionnois, BP 60120, 54 003 NANCY cedex, France</addrLine><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-300292" type="indirect"><org type="institution" xml:id="struct-300292" status="OLD"><orgName>Université Nancy 2</orgName><date type="end">2011-12-31</date><desc><address><addrLine>91 avenue de la Libération, BP 454, 54001 Nancy cedex</addrLine><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-300293" type="indirect"><org type="institution" xml:id="struct-300293" status="OLD"><orgName>Institut National Polytechnique de Lorraine</orgName><orgName type="acronym">INPL</orgName><date type="end">2011-12-31</date><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-2496" type="direct"><org type="laboratory" xml:id="struct-2496" status="OLD"><orgName>INRIA Lorraine</orgName><desc><address><addrLine>615 rue du Jardin Botanique 54600 Villers-lès-Nancy</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/centre-de-recherche-inria/nancy-grand-est</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation></listRelation></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Nancy</settlement><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Lorraine (région)</region></placeName><orgName type="university">Université Nancy 2</orgName><orgName type="institution" wicri:auto="newGroup">Université de Lorraine</orgName><placeName><settlement type="city">Nancy</settlement><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Lorraine (région)</region></placeName><orgName type="university">Institut national polytechnique de Lorraine</orgName><orgName type="institution" wicri:auto="newGroup">Université de Lorraine</orgName></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="mix" xml:lang="fr"><term>localisation</term><term>localization</term><term>mobile robot</term><term>reactive multi-agent systems</term><term>robotique mobile</term><term>suivi</term><term>systèmes multi-agent réactifs</term><term>tracking</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="fr">La localisation d'objets est une tâche assez délicate et essentielle dès lors que l'on veut utiliser des robots mobiles. Elle peut être définie comme étant l'action de trouver la position d'un objet, mobile ou fixe, par rapport à un référentiel connu. En alternative aux méthodes classiquement utilisées qui sont généralement issues du traitement du signal, nous proposons une architecture réactive s'appuyant sur des phénomènes physiques d'interaction. Notre objectif est de construire un dispositif de localisation et de suivi d'éléments mobiles, en nombre quelconque, dans un environnement structuré, partiellement connu et de taille non limitée, à partir de d'un nombre variable de capteurs mobiles ou fixes disposés dans l'environnement. || Localization is a tough, wide spread task in mobile robotics. It can be defined as the action to determine the position of an object considering a reference coordinate system. By contrast with the classical algorithms, which usually stem from the signal o</div></front></TEI><hal api="V3"><titleStmt><title xml:lang="fr">Une architecture réactive pour la localisation en robotique mobile</title><author role="aut"><persName><forename type="first">Franck</forename><surname>Gechter</surname></persName><email>gechterf@loria.fr</email><idno type="halauthor">130718</idno><orgName ref="#struct-364766"></orgName><affiliation ref="#struct-2355"></affiliation></author><author role="aut"><persName><forename type="first">Vincent</forename><surname>Chevrier</surname></persName><email>chevrier@loria.fr</email><idno type="halauthor">129530</idno><orgName ref="#struct-364475"></orgName><affiliation ref="#struct-2355"></affiliation></author><author role="aut"><persName><forename type="first">François</forename><surname>Charpillet</surname></persName><email>francois.charpillet@loria.fr</email><idno type="idhal">francois-charpillet</idno><idno type="halauthor">129571</idno><orgName ref="#struct-300009"></orgName><affiliation ref="#struct-2355"></affiliation></author><editor role="depositor"><persName><forename>Publications</forename><surname>Loria</surname></persName><email>publications@loria.fr</email></editor></titleStmt><editionStmt><edition n="v1" type="current"><date type="whenSubmitted">2006-09-26 09:38:14</date><date type="whenModified">2016-05-18 08:59:31</date><date type="whenReleased">2006-09-28 15:22:46</date><date type="whenProduced">2003</date></edition><respStmt><resp>contributor</resp><name key="108626"><persName><forename>Publications</forename><surname>Loria</surname></persName><email>publications@loria.fr</email></name></respStmt></editionStmt><publicationStmt><distributor>CCSD</distributor><idno type="halId">inria-00099521</idno><idno type="halUri">https://hal.inria.fr/inria-00099521</idno><idno type="halBibtex">gechter:inria-00099521</idno><idno type="halRefHtml">Hermès. Journées Francophones des Systèmes Multi-Agents - JFSMA'2003, 2003, Hammamet, Tunisie, 13 p, 2003</idno><idno type="halRef">Hermès. Journées Francophones des Systèmes Multi-Agents - JFSMA'2003, 2003, Hammamet, Tunisie, 13 p, 2003</idno></publicationStmt><seriesStmt><idno type="stamp" n="INRIA">INRIA - Institut National de Recherche en Informatique et en Automatique</idno><idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno><idno type="stamp" n="INPL">Institut National Polytechnique de Lorraine</idno><idno type="stamp" n="LORIA2">Publications du LORIA</idno><idno type="stamp" n="INRIA-NANCY-GRAND-EST">INRIA Nancy - Grand Est</idno><idno type="stamp" n="LORIA-CSAI" p="LORIA">Systèmes complexes et intelligence artificielle</idno><idno type="stamp" n="LORIA">LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications</idno><idno type="stamp" n="INRIA2">INRIA 2</idno><idno type="stamp" n="INRIA-LORRAINE">INRIA Nancy - Grand Est</idno><idno type="stamp" n="LABO-LORIA-SET" p="LORIA">LABO-LORIA-SET</idno><idno type="stamp" n="UNIV-LORRAINE">Université de Lorraine</idno></seriesStmt><notesStmt><note type="commentary">Colloque avec actes et comité de lecture. internationale.</note><note type="audience" n="2">International</note><note type="invited" n="0">No</note><note type="popular" n="0">No</note><note type="peer" n="1">Yes</note><note type="proceedings" n="1">Yes</note></notesStmt><sourceDesc><biblStruct><analytic><title xml:lang="fr">Une architecture réactive pour la localisation en robotique mobile</title><author role="aut"><persName><forename type="first">Franck</forename><surname>Gechter</surname></persName><email>gechterf@loria.fr</email><idno type="halAuthorId">130718</idno><orgName ref="#struct-364766"></orgName><affiliation ref="#struct-2355"></affiliation></author><author role="aut"><persName><forename type="first">Vincent</forename><surname>Chevrier</surname></persName><email>chevrier@loria.fr</email><idno type="halAuthorId">129530</idno><orgName ref="#struct-364475"></orgName><affiliation ref="#struct-2355"></affiliation></author><author role="aut"><persName><forename type="first">François</forename><surname>Charpillet</surname></persName><email>francois.charpillet@loria.fr</email><idno type="idHal">francois-charpillet</idno><idno type="halAuthorId">129571</idno><orgName ref="#struct-300009"></orgName><affiliation ref="#struct-2355"></affiliation></author></analytic><monogr><idno type="localRef">A03-R-158 || gechter03a</idno><meeting><title>Journées Francophones des Systèmes Multi-Agents - JFSMA'2003</title><date type="start">2003</date><settlement>Hammamet, Tunisie</settlement></meeting><editor>Hermès</editor><imprint><biblScope unit="pp">13 p</biblScope><date type="datePub">2003</date></imprint></monogr></biblStruct></sourceDesc><profileDesc><langUsage><language ident="fr">French</language></langUsage><textClass><keywords scheme="author"><term xml:lang="fr">systèmes multi-agent réactifs</term><term xml:lang="fr">tracking</term><term xml:lang="fr">reactive multi-agent systems</term><term xml:lang="fr">mobile robot</term><term xml:lang="fr">localization</term><term xml:lang="fr">robotique mobile</term><term xml:lang="fr">localisation</term><term xml:lang="fr">suivi</term></keywords><classCode scheme="halDomain" n="info.info-oh">Computer Science [cs]/Other [cs.OH]</classCode><classCode scheme="halTypology" n="COMM">Conference papers</classCode></textClass><abstract xml:lang="fr">La localisation d'objets est une tâche assez délicate et essentielle dès lors que l'on veut utiliser des robots mobiles. Elle peut être définie comme étant l'action de trouver la position d'un objet, mobile ou fixe, par rapport à un référentiel connu. En alternative aux méthodes classiquement utilisées qui sont généralement issues du traitement du signal, nous proposons une architecture réactive s'appuyant sur des phénomènes physiques d'interaction. Notre objectif est de construire un dispositif de localisation et de suivi d'éléments mobiles, en nombre quelconque, dans un environnement structuré, partiellement connu et de taille non limitée, à partir de d'un nombre variable de capteurs mobiles ou fixes disposés dans l'environnement. || Localization is a tough, wide spread task in mobile robotics. It can be defined as the action to determine the position of an object considering a reference coordinate system. By contrast with the classical algorithms, which usually stem from the signal o</abstract></profileDesc></hal></record>Pour manipuler ce document sous Unix (Dilib)
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