| Titre : | Reinforcement and deep learning-based optimization of pose estimation techniques in single and multi-agent systems : application to aerial and mobile robots |
| Auteurs : | Islem Kobbi, Auteur ; Abdelhak Benamirouche, Auteur ; Mohamed Tadjine, Directeur de thèse |
| Type de document : | document électronique |
| Editeur : | [S.l.] : [s.n.], 2023 |
| Format : | 1 fichier PDF (18.8 Mo) / ill. |
| Note générale : |
Mode d'accès : accès au texte intégral par intranet.
Mémoire de Projet de Fin d’Études : Automatique : Alger, École Nationale Polytechnique : 2023 Bibliogr. P. 143 - 145. - Annexes P. 146 - 150. |
| Langues : | Anglais |
| Index. décimale : | PA01023 |
| Tags : | Deep Pose estimation Multi-agent system Reinforcement Learning |
| Résumé : | In this work, we will focus on optimizing pose estimation techniques for aerial and mobile robots in both single-agent and multi-agent systems. Novel approaches based on Deep Learning and Reinforcement Learning will be proposed to enhance accuracy and robustness. The thesis includes a comprehensive literature review, introducing software tools used in the research. Two approaches for single agent pose estimation, will be presented : the QR estimator for an adaptive version of the Extended Kalman Filter and the KalmanNet approach for a direct estimation of the Filter gain. The effectiveness of these approaches will be demonstrated through simulations. The investigation will then be extended to collaborative pose estimation in multi-agent systems. A novel approach will be also proposed which aims to improve accuracy and robustness by leveraging information from neighboring agents. The findings will be validated in a real-world simulation environment using ROS and Gazebo. |
Exemplaires (1)
| Cote | Support | Localisation | Section | Disponibilité | Spécialité | Etat_Exemplaire |
|---|---|---|---|---|---|---|
| PA01023 | Ressources électroniques | Bibliothèque centrale | Projet Fin d'Etudes | Disponible | Automatique | Téléchargeable |
Documents numériques (1)
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BENAMIROUCHE.Abdelhak_KOBBI.Islem.pdf URL
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