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Processus Décisionnels de Markov pour l'autonomie ajustable et l'interaction hétérogène entre engins autonomes et pilotés

Mathieu Lelerre 1
1 Equipe MAD - Laboratoire GREYC - UMR6072
GREYC - Groupe de Recherche en Informatique, Image, Automatique et Instrumentation de Caen
Abstract : Robots will be more and more used in both civil and military fields. These robots, operating in fleet, can accompany soldiers in fight, or accomplish a mission while being supervised by a control center. Considering the requirement of a military operation, it is complicated to let robots decide their action without an operator agreement or watch, in function of the situation.In this thesis, we focus on two problematics:First, we try to exploit adjustable autonomy to make a robot accomplishes is mission as efficiency as possible, while he respects restrictions, assigned by an operator, on his autonomy level. For this, it is able to define for given sets of states and actions a restriction level. This restriction can force, for example, the need of being tele-operated to access a dangerous zone.Secondly, we consider that several robots can be deployed at the same time. These robots have to coordinate to accomplish their objectives. However, since operators can take the control of some robots, the coordination is harder. In fact, the operator has preferences, perception, hesitation, stress that are not modeled by the agent. It is then hard to estimate his next actions, so to coordinate with him. We propose in this thesis an approach to estimate the policy executed by a tele-operated robot from learning methods, based on observed actions from this robot.The notion of planning his important in these works. These are based on planning models, such as Markov Decision Processes.
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Submitted on : Tuesday, February 12, 2019 - 10:33:11 AM
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Mathieu Lelerre. Processus Décisionnels de Markov pour l'autonomie ajustable et l'interaction hétérogène entre engins autonomes et pilotés. Interface homme-machine [cs.HC]. Normandie Université, 2018. Français. ⟨NNT : 2018NORMC246⟩. ⟨tel-02015344⟩



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