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Communication dans un congrès

Extension of Flocking Models to Environments with Obstacles and Degraded Communications

Alexandre Bonnefond 1, 2 Olivier Simonin 1 Isabelle Guérin-Lassous 2
1 CHROMA - Robots coopératifs et adaptés à la présence humaine en environnements dynamiques
Inria Grenoble - Rhône-Alpes, CITI - CITI Centre of Innovation in Telecommunications and Integration of services
2 DANTE - Dynamic Networks : Temporal and Structural Capture Approach
Inria Grenoble - Rhône-Alpes, LIP - Laboratoire de l'Informatique du Parallélisme, IXXI - Institut Rhône-Alpin des systèmes complexes
Abstract : 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. Often depicted as robust systems, there is yet a lack of understanding how flocking models compare and how they are impacted by the communication quality when they exchange control data. 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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https://hal.archives-ouvertes.fr/hal-03365129
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Soumis le : mardi 5 octobre 2021 - 11:36:55
Dernière modification le : mercredi 6 octobre 2021 - 14:21:24

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  • HAL Id : hal-03365129, version 1

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Alexandre Bonnefond, Olivier Simonin, Isabelle Guérin-Lassous. Extension of Flocking Models to Environments with Obstacles and Degraded Communications. IROS 2021 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2021, Prague / Virtual, Czech Republic. pp.1-7. ⟨hal-03365129⟩

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