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Contribution à la résilience d'un système coopératif Homme-robot par une gestion de l'autonomie ajustable

Abstract : These research works concerns the definition of a mode of human-machine interaction placing the human operator and the robot at the same decisional level and its contribution to the resilience of the system by the management of the adjustable autonomy. Resilience is the property of a system to recover or maintain a stable state continuous operation of the system despite the occurrence of disturbances. A definition of autonomy is proposed, which distinguishes semantic aspects (skills, capacities and prescriptions) for three levels of activity (achievement of a task, selection of an alternative, definition of an action plan). The formalism associated with this definition allows modelling the conditions for applying the forms of human-machine cooperation (augmentative, integrative and debative). Work then focus on the modelling of activity levels through the implementation of algorithms of decision making and planning methods based on hierarchical methods. These allow the decomposition of tasks and assigning agents to subtasks according to the criteria of resilience following: efficiency, adaptability, border-line functioning, interactions. The proposed model of cooperative control is assessed by an experimental protocol carried out on a micro-world that has been developed for this purpose. The analysis of results leads to an assessment of the resilience of the proposed solutions for the management of disruptions and their acceptance by the human operator. The proposed model is validated as well as the criteria for resilience that are properly perceived and assessed by the operators.
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Stéphane Zieba. Contribution à la résilience d'un système coopératif Homme-robot par une gestion de l'autonomie ajustable. Automatique. Université de Valenciennes et du Hainaut-Cambrésis, 2009. Français. ⟨NNT : 2009VALE0023⟩. ⟨tel-03033058⟩

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