Modèles de Flocking Adaptés aux Environnements avec Obstacles et Communications Dégradées
Revue Ouverte d'Intelligence Artificielle, Post-actes des Journées Francophones sur les Systèmes Multi-Agents (JFSMA 2021), Volume 4 (2023) no. 2, pp. 123-145.

Dans ce papier, nous étudions des modèles de flocking existants et proposons des extensions afin d’améliorer leurs performances dans des environnements ayant des obstacles impactant les communications ainsi que les trajectoires des agents. En effet, les contraintes imposées par les obstacles sont généralement la cause de coupures de communication menant souvent à la séparation de la flotte en plusieurs clusters. Dans ce contexte, nous étendons deux modèles standards afin de renforcer leurs capacités à rester connectés dans des environnements avec différentes distributions d’obstacles. En tenant compte de la propagation radio, nous modélisons comment les obstacles impactent les communications dans un simulateur que nous utilisons notamment pour optimiser les paramètres du flocking. Les résultats des simulations montrent l’efficacité des modèles proposés et la façon dont ils s’adaptent à ces nouvelles contraintes environnementales.

In this paper, we study existing flocking models and propose extensions to improve their abilities to deal with environments having obstacles impacting the communication quality as well as the trajectories of the agents. Indeed, the constraints induced by the obstacles usually lead to communication outages resulting in the separation of the flock in multiple clusters. In this context, we extend two standard models to improve their ability to stay connected while evolving in environments with different obstacles distributions. By taking into account the radio propagation, we model the obstacles’ impact on communications in a simulator that we use to optimize flocking parameters. The simulation results show the efficiency of the proposed models and how they adapt to different environmental constraints.

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DOI : 10.5802/roia.59
Mot clés : Modèles de flocking, robotique en essaim, simulation des communications
Keywords: Flocking models, swarm robotics, simulation of commmunications

Alexandre Bonnefond 1 ; Olivier Simonin 2 ; Isabelle Guérin-Lassous 3

1 Univ. Lyon, Inria, INSA de Lyon, CITI & LIP Labs, 6 Av. des Arts 69621 Villeurbanne cedex (France)
2 Univ. Lyon, INSA de Lyon, Inria, CITI Lab. 6 Av. des Arts Villeurbanne, 69100 (France)
3 Univ. Lyon, Université Claude Bernard Lyon 1, ENS de Lyon, CNRS, Inria, LIP, 46 allée d’Italie, Lyon (France)
Licence : CC-BY 4.0
Droits d'auteur : Les auteurs conservent leurs droits
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     title = {Mod\`eles de {Flocking} {Adapt\'es} aux {Environnements} avec {Obstacles} et {Communications} {D\'egrad\'ees}},
     journal = {Revue Ouverte d'Intelligence Artificielle},
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Alexandre Bonnefond; Olivier Simonin; Isabelle Guérin-Lassous. Modèles de Flocking Adaptés aux Environnements avec Obstacles et Communications Dégradées. Revue Ouverte d'Intelligence Artificielle, Post-actes des Journées Francophones sur les Systèmes Multi-Agents (JFSMA 2021), Volume 4 (2023) no. 2, pp. 123-145. doi : 10.5802/roia.59. https://roia.centre-mersenne.org/articles/10.5802/roia.59/

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