Difference between revisions of "User:GPH"

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{{Title_Block
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|title=Pierre-Selim Huard}}
|title=Pierre-Selim}}
* Nickname: gph
* Nickname: gph
* Contact: huard AT recherche.enac.fr or pierre-selim AT huard.info
* Contact: <tt>huard<span style="display:none;">SPAM</span>@<span style="display:none;">SPAM</span>recherche.enac.fr</tt> or <tt>pierre-selim<span style="display:none;">SPAM</span>@<span style="display:none;">SPAM</span>huard.info</tt>
* Location: Toulouse, France
* Location: Toulouse, France


I've joined the Paparazzi project in 2005, and I've worked a bit on the ground station software.
I've joined the Paparazzi project in 2005, and I've worked a bit on the ground station software.
 
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I graduated from ENAC in 2006 as an Engineer in Computer Science and Air Traffic Management, I'm Currently working on automatic [[mission planning]] at ENAC for the Paparazzi Project.}}
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* Possible [[User:GPH/Home|new design]] for [[Main_Page]] of the Wiki.
* [[Wiki 2.0]].
* [[Special:Lonelypages|Lonely Pages]]
* [[Special:Lonelypages|Lonely Pages]]
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* [http://fr.wikipedia.org/wiki/Aide:Couleurs Colours]
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[[User messages]] is a piece of code allowing you to create new messages without conflicts with Paparazzi messages ID.


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==Writings==
== Links ==
 
[[Hecto|Merci Pascal Brisset]] '''·''' [http://www.recherche.enac.fr/~gph/planning/facile-2.0.tar.bz2 FaCiLe] '''·''' [http://www.recherche.enac.fr/LOTA LOTA] '''·''' [http://fr.wikipedia.org/wiki/Aide:Couleurs Colours]
 
== Drafts ==
* [[User:GPH/Mission]]
* <s>[[User:GPH/Messages]]</s>
* Airpseeds:
** Firestorm: 15 m/s
** Funjet: 15 m/s
** Easyglider: 12 m/s
 
==Work==
 
===Abstract===
The typical duties of micro-drones can be quite diverse: identification of
ground targets, search and localization of targets, drop of payloads, etc.
A mission for one or several drones is made of a set of such tasks.
The associated mission planning problem for a patrol of micro-drones consists
in allocating these tasks to the drones and scheduling their execution
while minimizing the makespan of the mission. The execution of the tasks
may fail and they must be planned again in such a case; this fact
introduces uncertainties during the mission which cannot be taken into
account before its realization.
 
This thesis proposes to use a full centralized mission planning system
for micro-drones. The problem is modelled by a constraint satisfaction
problem and is solved with complete methods able to offer proofs of
optimality of the solutions and heuristic methods that can quickly obtain
good solutions on bigger instances. The management of uncertainties is
handled by a reactive architecture combined with an online planning module.
The complete planning system has been integrated in the Paparazzi system
which can actually control a set of drones, by simulation or in real conditions.
The presented algorithms are experimented on various scenarios and missions
with promising results.


===Articles===
===Articles===
* Plannification de mission pour une patrouille de micro-drones. ''Journées Francophones Planification Décision Apprentissage.'' June 2009
* Automated Mission Planning for a Swarm of MAV. ''4th US-European Competition and Workshop on Micro Air Vehicle'' June 2009 (Accepted)
* Automated Planning for a Fleet of Micro Air Vehicles. ''3rd US-European Competition and Workshop on Micro Air Vehicle  System & European Micro Air Vehicle Conference and Flight Competition.'' September 2007
* Automated Planning for a Fleet of Micro Air Vehicles. ''3rd US-European Competition and Workshop on Micro Air Vehicle  System & European Micro Air Vehicle Conference and Flight Competition.'' September 2007



Latest revision as of 01:51, 3 June 2010


 

User messages is a piece of code allowing you to create new messages without conflicts with Paparazzi messages ID.

Links

Merci Pascal Brisset · FaCiLe · LOTA · Colours

Drafts

Work

Abstract

The typical duties of micro-drones can be quite diverse: identification of ground targets, search and localization of targets, drop of payloads, etc. A mission for one or several drones is made of a set of such tasks. The associated mission planning problem for a patrol of micro-drones consists in allocating these tasks to the drones and scheduling their execution while minimizing the makespan of the mission. The execution of the tasks may fail and they must be planned again in such a case; this fact introduces uncertainties during the mission which cannot be taken into account before its realization.

This thesis proposes to use a full centralized mission planning system for micro-drones. The problem is modelled by a constraint satisfaction problem and is solved with complete methods able to offer proofs of optimality of the solutions and heuristic methods that can quickly obtain good solutions on bigger instances. The management of uncertainties is handled by a reactive architecture combined with an online planning module. The complete planning system has been integrated in the Paparazzi system which can actually control a set of drones, by simulation or in real conditions. The presented algorithms are experimented on various scenarios and missions with promising results.

Articles

  • Plannification de mission pour une patrouille de micro-drones. Journées Francophones Planification Décision Apprentissage. June 2009
  • Automated Mission Planning for a Swarm of MAV. 4th US-European Competition and Workshop on Micro Air Vehicle June 2009 (Accepted)
  • Automated Planning for a Fleet of Micro Air Vehicles. 3rd US-European Competition and Workshop on Micro Air Vehicle System & European Micro Air Vehicle Conference and Flight Competition. September 2007

Tech papers

  • Safety Memo. 3rd US-European Competition and Workshop on Micro Air Vehicle System & European Micro Air Vehicle Conference and Flight Competition. September 2007. (pdf file)