Bestaoui Y.,Laboratoire IBISC
Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering | Year: 2010
In this article, a path planning system is presented, which enables the vehicle to move in a non-predefined way. Taking into account the situation detected by the sensors and on the basis of a spatial-temporal criterion, the proposed system is able to decide whether a new reference trajectory must be planned. If an update is necessary, the reference is computed taking into account the measured states (the three-dimensional (3D) positions, the flight path and heading angles, as well as the velocity), the limitations on curvature and torsion, and the next way-point that could be the final destination. As the simple geometric path planning procedure presented in this article can be implemented in real time, updated paths can easily be generated to accommodate a slowly drifting wind direction and/or wind speed.
Belardinelli F.,Laboratoire IBISC
Electronic Proceedings in Theoretical Computer Science, EPTCS | Year: 2014
In this paper we introduce Epistemic Strategy Logic (ESL), an extension of Strategy Logic with modal operators for individual knowledge. This enhanced framework allows us to represent explicitly and to reason about the knowledge agents have of their own and other agents' strategies. We provide a semantics to ESL in terms of epistemic concurrent game models, and consider the corresponding model checking problem. We show that the complexity of model checking ESL is not worse than (non-epistemic) Strategy Logic. © 2014 V. Bruyère, E. Filiot, M. Randour & J.-F. Raskin.
Jimenez Carrizosa M.,Supelec |
Damm G.,Laboratoire IBISC |
Benchaib A.,Alstom |
Alou P.,Technical University of Madrid |
And 2 more authors.
IFAC Proceedings Volumes (IFAC-PapersOnline) | Year: 2014
This paper presents the modeling and control of a multilevel DC/DC bidirectional converter suitable for medium voltage and medium power applications, with a special interest in renewable applications. The multilevel converter is based on Dual Active Bridge (DAB) and its average dynamic model. Two different control strategies are addressed in this paper in order to achieve the overall control of the DC/DC converter: a bilinear systems' control based on quadratic feedback control, and a nonlinear control based in Lyapunov theory. System's controllability and stability are studied, in particular by the analysis of zero dynamics. The performance of both controllers are illustrated by computer simulations, and the concluding remarks analyze theirs characteristics and draw some comparisons. © IFAC.
Dicheva S.,University of Evry Val dEssonne |
Dicheva S.,Laboratoire IBISC |
Bestaoui Y.,University of Evry Val dEssonne |
Bestaoui Y.,Laboratoire IBISC
Journal of Aerospace Information Systems | Year: 2014
A 3-D A* mission planning/replanning algorithm satisfying both environmental constraints as static and mobile obstacles and kinematic and dynamic constraints coming from the aircraft limitations is proposed. This algorithm carries out the planning of the shortest path selected from the interconnections of several waypoints generated in the mission region. The shortest path is identified according to the presence of various obstacles during the path search, and its objective is to reach different goal points. Analysis of simulation results of this improved 3-D A *algorithm shows that it is adapted to different environments where more flight constraints can be considered, and it proposes an optimal solution to generate a free obstacle path. New trajectory plans can be generated from updated environmental data. In this specific launch mission for an autonomous airplane, the environmental uncertainties are important parameters.