Phd ALOUI Khalil sur theses.fr

Abstract : :

Swarm robots are considered as complex mechatronic systems characterized by many independent components whose low-level actions produce collective high-level results. Predicting high-level results (swarm system level) using low-level rules (independent robots level) is a major known and open challenge. Similarly, finding low-level rules that give specific high-level results is generally even less understood. Designers thus find it difficult to solve complex problems exploiting parallelism and self-organization. In this thesis, we have developed a design methodology based on the Model-Based Systems Engineering method (MBSE) to specify the requirements and the collective behaviors of the swarms, then on the verification of the developed models and finally on the validation of the swarm system by physical prototyping with real robots using Robot Operating System (ROS). This methodology includes two phases : a top-down phase based on the MBSE method, from the requirements specification to the functional and structural modeling based on SysML and the Domain Specific Language (DSL), and a bottom-up phase for the model integration and implementation in ROS. To validate our methodology, we applied it to three different case studies, a case of aggregation of a swarm robotic system, a case of design of an Automated Guided Vehicle (AGV) system and finally a case of Multi-SLAM in an industrial environment. 

Supervision : 

Under Supervision Associate Professor Moncef HAMMADI (ISAE-Supméca)