Unités

Automatique et analyse des systèmes

Les activités de recherche du SAAS sont essentiellement orientées dans deux directions:
- la supervision et les systèmes de diagnostic (basés sur des modèles mathématiques) pour des système technique; 
- la régulation sous contrainte de systèmes dynamiques non linéaires avec l'accent sur les méthodes de type "reference governor" .
 
Les méthodes développées sont appliquées à un large spectre de domaines:
- production , distribution et stockage d'énergie électrique,
- systèmes mécatroniques (drones et robotique),
- procédés industriels.

Projets

SELF-ORGANIZED NERVOUS SYSTEMS FOR ROBOT SWARMS

The project aimed to enhance the coordination and performance of heterogeneous robot swarms through a self-organized hierarchical control architecture. Key accomplishments include:
1. Developed the S-Drone, a novel, versatile quadrotor platform for swarm robotics research with onboard processing and sensing capabilities.
2. Designed a hierarchical control architecture enabling dynamic switching between distributed and centralized control, based on task requirements.
3. Implemented decentralized control algorithms, consensus-based control, and leader-follower approaches for efficient swarm coordination.
4. Demonstrated improved swarm performance through simulations and real-world experiments, showcasing enhanced task completion time, robustness, and adaptability.
The project’s findings advance swarm robotics, providing insights into self-organized hierarchical control for multi-robot systems. Practical applications include military and civilian domains