Proposition d'une architecture de contrôle adaptative pour la tolérance aux fautes

摘要

The software control architectures are the decisional center of robots. Unfortunately, the robots and their architectures suffer from numerous flaws that disrupt and / or compromise the achievement of missions they are assigned. We therefore propose a methodology for designing adaptive control architecture for the implementation of fault tolerance. The first part of this thesis proposes a state of the art of dependability, at first in a generic way before being specified in the context of control architectures. The second part allows us to detail the proposed methodology to identify potential errors of a robot and respond using the means of fault tolerance. The third part presents the experimental context and application in which the proposed methodology will be implemented and described in the fourth part of this manuscript. An experiment highlighting specific aspects of the methodology is detailed in the last part.