An extension of the plan-merging paradigm for multi-robot coordination
Texte intégral
(2)
(3) "!$#% &'#()!*+, &#.- /%!0-21
(4) 3 45! %67 8 %! +
(5) &9: ;=<?>*@BADCFEHGI<KJML?N
(6) <?C OQP,<?RTS*@BOFU
(7) VW<?X@ YZU'U[ \^]`_
(8) P'[ acbdaU
(9) JMAeC f*A7O fg]hLMVBLMC*AeViP,LdRTS*A?a j kml bMbon:LMf*VBLMf*pqAo]`r%sHrut l?v a;G<?C*RDAxw r\yXz<?@BV3{%|m}~MGI<KJ?L?NKaGI<?RTS @O"xVW<?<?pDw}G d " 4559:¢c£¤//mx¥§q¦H^3^3¨/?¤/54¨©3:¢/ª9y/e¡m5¤¨/«4¬c^¤)D:/^y?¡meq`yi43,¤«h^ D34^T®e¡ y¯/°5±£¤±²947/¡5/m49®T/4¤/% mq^m4¤/eD4 Ky^³ 45&4^²3/e£$¤3q4q'q³35./£±¨e/335«`¤ei´"^£¤£/Z45hªyy5¥ u3y5q«hqª'5T´°?ªyª«`3^3±µqq¡$¬m/£±£¤T´Z±¨ 43H±y^5¬ Kªe4¡7`3ª¡o3ª^¶e®e`^7±D44He5^M¡5eT53D/®Im/¥W4£¤¤±/5x`3//°?xª335/3±±De3¥ ±«`?e4q¡,°D²`35uª55£¤^T3±e ³5 £¤qe¡5 4`¡m±?q4qe K/y¡m¤T3±e,?/£¤¤^±^³ 4q,¡m93ª4y¤°5y5m33±qe)45ªy¸uª£Z45¤«`754/T«`®e5^«`53^TD3y±e¹ª£¤£±£±DT/´"¡$q¬¡·£¤q©/¡5°x±^5¨ ¥ 4'«`/3.e«`5£±^ 9ª55£¤^T3±e/q¬x¸ºeu±3/e¬?45 K/y¡m¤4T3±5e£±,i/i¸ `«.«`5£/3±3u£±»«` m/¤°5°£±±%£¤u3y«`5/q5«h¤5u53£TT4e3q5³ e5£¡ ´Z¤¡5^9±3ª55£¤^T3±e¼^£¡5q³i½o.¡m4^4¤°x¯45.«ª¤ ±5£¤¨/^«`3q^¡mD¤^3Dª43¤ //
(10) ¸544553*/5¨/q
(11) ´·3´ y5`^«` 5/«hª¡.£±±^£¤£¤³ 33ª4"y*±«h¥ ¾ ¿ À *ÁÂ9Ã"*Ä^Á À ŧª,¨e^3D53u"«¯«¯5x£±4i±¥§°?ª¨/¯qªD°£±^D4exq3£¤/ª?4¤ÇI/3¼¼x^£¡$3¬m5´ ^¤Z^3£¤q/4±x«Æ&34¤®/T «`¤3¤/x^¬e3/¶D¤5¨.±D4`/qe5Dcª35^ª¨e^D3 5£ª"/ ¡me¤T33q3/¡±D/y^4¬d¤//
(12) ¡È4`4^K4u533H4554qm±¡mix4`ex5q£ª"^ mq´Z±544¤/^ D³ e¥ ¤¯¤¯ª445£ª3£¤²9435,¸º/¯/m4e5/«`/x«¯5£±4±¥ 4ªe£¤£±°xm/qhT4/5¡È5¨e£¤¤eq/T£¤4¤/qxª.55//%¡$¬c°x«`
(13) e¡m4±3
(14) q¨/4^£¤²Ê^yÉ4ª£¤ m£±²eq^¬m´Z45¡5^Ë'°545m 4ÌD5±3.¸º535^u3¼^«`^Dq¬d°x^ªxh4h3/°?ªyu/& ±'35%4/«`D²m4¤qª£M^K®K¤4e5«`^Dq³ ½)±£¤q®/^yª£x¨/q5^3¤ª54D/y5=I®e:°?^q
(15) 53ª¥ xD¡¤·45H£¤3^yT354eq4±5¨o¨/Dª£Z¡m/«`?ª¥ Ô ±4£±¤e/°)ª£/¢=¡¹£ªª£¤5£±m±^¨Õª4¤Ð/ÖIgÓ¬9Í¡5Î ¤e4e33±3°em&4¡×Ïi^43q9ªyбÑqyÒTÓ¬ZÐ ØI¢ÓWª¬H445ª¥ £ ¨//4T4¤/ÆÐ Ù5¬%Ñ/Ñ/¬%ÑÚÓW¬«`ª3±®TT3±eª£°?^xI®D¤/y©ÐÑÛm¬ Ñ. xÑÜIIÓº®/Ý&)¬°?K^/^?×^y«hT3D±e3Þ£±²ß¸º/34eTy45¤¡Æ^®K±4¨7±5¤¨à¡m3q/x4q¶D¥W4¡m?^qD±¼x¨e)eªe£ /55£¤¤qT3±em¥W4?q±¼x:4y55Ìeq%Ð ÚK¬?áD¬xÒTÓW³ ½o9ª3¨/5'4xT35^3H¤,ª£©5qq¡z¸º/¨e^5q4 /553eey5q4â?^4¸º/3«ã5£ªKe3¡m¤ª4¤/ ³ ½o xI®/953/?e4q¡ ¬iq®/^yª£:²/q/3
(16) ª¨e¬i^K/y¡m±xT4¤/ 3y5q«h©^/£±£¤q¡ÕÉ4¢c£¤/m¥§¦H^3¨/¤5¨¢/3e¡m±¨e«ËFÍä¢ ¦9¢ ݳ 3¢ ,¦9^¢ß K5±°53±T®/qq¡Þ®/^4y©ª£d°?È 5ÌDª«`553H£¤qå´Z5¤^^D3¯,3//°?¡·ªy/:£±£¤´"T´"^3q%¡Þexm¥ q3ª4¡.´Z±4®e^3²¯£¤±«`±4¡qe33/£/4¤®K²e¬/´Z5¤£±:54^¥ 4¡5^34®K±&3¨±e
(17) q3/q¸*e¡m3¤//£i¡K¥W5£¤K3/y¶?^44±44¤qª4¤£¤/¤¶/9q¬±¨e³q³^£±e³ °ª£/^3^^/¬ ½o953q4^Dq¬¤)459¸º/£¤£±T´Z¤5¨¬ZK5«.°xqª¸¤«h¥ ?/43/Dc K4q4±e3%4,É°x/4¤i¢ ¦9¢c˳e5q²`I®/ °?^qz¡5^®/q£±ex¡Þ¤·e3¡5^h4©¤«h4T®e,±3ª°±£¤²Þ4 3e5¡5%ª5ª¯£¤¨/4eo4±4®Tª«h3±e./ m´"q^^£¤m£ 4/¤"/z4%/ªDy3y5 K33qq¬=4ª5y¡·ª£Me445qqq4³ 53y5^«`^/
(18) 5T´F°x/3/«`4q4¤µ^¡$¬mª£¤£±T´Z¤5¨ 3Hy5Ke4h/¡o^®/qÈ35?¡T4em¥W£±¤5`4e°x/54¤/4¥ ±¤4«`¤qxqD¬/¡,¡7°K²,4'453/¶/ª¤5D£±4H^ª/4¤q/ /³e®Tª3¤/^/4yª¤D3 ¨e^5q5/¯5q4´æe°x//33.y5/±4%´"&3^5£¤4£/hª£¤9£¤T´i°?¯335^`H¡m434¤ª°5¸m3±e4Þq4/ª¥¸ 35:^/«`5myT4¤/,£±D/¡$³*5i3q45£±c¤"«`/3»^ K¤°5£¤ 3y5q«h3T:45/£¤¡
(19) ´Z¤¡5^yiª5£±^ª4¤/
(20) ¼^£¡5q³ ŧ745`5^ D%4q4¤/ ¬$´"`°54¤»x²H4q«h¤¡È45`«ª¤ ¸ºT354=/¸ 45`çyèIé&êäëì í
(21) ì"³5^ ¬K´":53q4^D ¯5^´ ÍB£¤/&m3¥±«`eoq4ÛD¨eÝ&±5¬d¨//¡È£±¨e/34e3¨/53«æq3´Z¤®/5.¤y57£¤/±Dm3¥W^«h¨/qy4T¨e3±q:¨544¤/43e±54¤¨/q È5¤^yªyy5¤qª£=3q4/3^,¡mq33¤m4¤//¡35'
(22) ª¸ ^/£¤/3q¡94/¶e^,Íä4q&3±e©ÙDÝ&³'îKq4¤/ÞÚ'53q4^D335 ^´ïªyy5±4&44e³©ð ¤ª£¤£¤²/¬35q4,5q´â¸ºqª453qhª3 ¤¤£¤5£±¨H¤4Dy4T33¤qq¡oT43,554e£¤/5Þ¨/K±«`/y5¡m£¤¤^«`T3^±De3q¡¸º/^¯ m/5«`35^£±3/¯¨/¤qK5®/^ee£±®D¥ 3/°?ªyuÍä4q&3±eHÒeÝ&³.
(23) ñ òßóôõßö Àø÷ ô ùhÄ À ù õ Á*ÁZÁ ö úd.x.e445«`3Th´
(24) I®/,È^.ª¸:/m4e5/«`e 33//°?°?ªªyy¯^³'ªx½)¡59^^q®/eq3¯3/H£c3/3T°?3ª±%e3q´Z^^5¤®/yqÞ9q5¡5^%´Æ¨e¨/eD/ª£¤u£¬d3± q£¤/°xe3ª4qcªû&üMýTêÿþêäý èxì ±èTü%´Z¤y`yª¶/=/c±3¤/£ 3ª4u4u¼ª£ 3ª4/¸d4%534qD£¤/ ³ «.iTZ´"q^®e^4¬:4°x^ª¸º/3±)¤ m®Tqª^£¤m¡4¤5¤¨ 435Þ«.55£±£4ª± ¥3¬'/°? ªZ3/°?eªm¥ 33/ K°?qª¬y=³5/£³ ª"ª£¤ª£3i?ªe3^D4¤4¡mªq£4^¡$/³ m½7»u&y^/£±´Z£4±45ßc4e5x)q3/ª445¤/q ì ¤èTüÞí /êÿ
(25) ü 3è ê TüÞÍä¢ ¦ uݪ¡9453q45£±4¤5¨ 5!Í #"£ª9$§Ýi ^/44ýªyêÿ:ü?è/¸cy,ý 4q±èªÌDü5³i^xîK¯y9/¸c /4¤/4ýªêÿü?ªè %¡yý'&(ì y±ë èª*)ü ê T+ ü þ ^ü Bé3°x:4¤¨//£±¡¯3ª35^=3/°?ªy=/*´"^£¤£xe ,&(3 ë *ê T+ 35Zª35^ü3/þ °?ª-ü yä^é³4îKªcy+ª3'Z&(y5ë £*ª5Bê5ªü.¡.^4þ/^ü°?B:é ^¤/¨/3x4ª£¤q?¡./°D²¡ 33:5%3^¡m«`±?xqe43q/e£m:^/Kx/y3¡m3/±x±DT34d¡°x^5£´ ªqx^^h³ /&3±e±K®/e£±®eq¡¤ 0 7ªK²Ê«he«`^Dq¬u354q«`xe3/£¯e33/±Dy°x^¥ ´"^q·ª£¤£ 45H/4¤/.¤£¤¡m¡Þ¤Þ4'5±e/¸:ª£¤£ 3 454è,h^57K/Ð ÛªyÓ*¡m´Z±xT¤4y7¡¤5£ª
(26) 4//x3ª3m/4¸`4È5ýT1ê ^,53 ë4323^ýHDuèeë ±3/4 ëªêäë¥ 3±e/¡
(27) yiª£¤4/¡m²£¤/55q¡'q®//£¤m3±eoÍB𤨳$ÑIÝ&³ ½)5^7 68$ 3qq±®eq:y 9/¥49¨eeª;£ :8<$ ¬Mu^£ª°?/yT3q 75£ª> =?"8$ < ´Z¤y¹/y5¤^®eq. @45q·±xq¸ºe4«` "ACB0Íÿ¼¨x4 ³ DyT4E DeÝ 5¡mq«¯m3ª£m^ m^£±x¤/Íÿ¼¨x?³ D 335ª=439/°?ÑIGݪF¯3 ±.´Z5^/¤y£¤u£±&«3I²:45¤D,4q^K¸º/q4y*¡m±´Zx±T44 ¡o=
(28) " 5£¤/¬I/H ¡#"°5J5I'¤£¤¡ª¸ 35^¤i55¤/K :L"NMPO I #" I ³ 5q ¬±Z43$ < ±4¤4^4 =
(29) "8$ < ¤ :L"`³uÅW¸ ±u4q^¡5q¬?±/¡5¡5:4q«`xe3/£e3¡mq ^/4yª¤D3 4e&4¤/x*±Q =
(30) "8$ < /¡.4yª¸º/3«±=¤e3 ^K/y¡m±xT4¡5£ª #";$³:¯3q45£3±R¨ #"$ ¤:¸ºqª¥ 4/±D°²
(31) £±Z¤²mh£¤4u5Z±'443^D4=5e£±4e¤35Q¨ Kq:L¬e"`ª³ ¡`¡mKq*ª±D34m¡m^ VU VU. W W XW XW X X. TS TS Robot 2. TS TS. Waiting for the right to perform a PMO. Waiting PMO events Deadlock treatment. Got the right. State 2. 𠱨e54D]F*%¢=£ª¦H^3¨/¤5¨`¢=3ª4m^/£³ 43/md¡mxqe¸º¬de4´Z«`5q¡©Z55q^^´q344/4^²e^¬Mq34^¸º«`£e?¢c/y¦7ª£=.e³^3i¡5q^u4eq¬I£¤ª´ 4=¤/¤m¥ °x¡5T^y´ Zq^34,x4&54u4¡m=±/?£±q£¤4Tq´ie?45:£ª¡5m4¥W«`&^3¡5¨/q¤5/¨.¡m¥e£¤m&y3±¶:®K±4±4¤qxqT³*4¤/x¤^ ³ _:qxq¡m¤5¨Þe¹45È^/D4^ Kq¬"457K/y¡m¤T3±e·53ª¥ 4y44^q«` qª£¤£±´ZT´5y¯«4eI¨/²u3q^3®/q¤9®/É43¡53^/¨/y/±¡54¤q/Ë"`43u.i«`e54¤ÌDi5¨e£±eª°xª¡ £ qe33/£±¤µ^¡,£¤/55¤5¨/&3±®K±²$ÐÑqÙTÓ³ ¢ ¦9¢æ53T®/q¡4¹°?ÞÌe3å¤^DȪx¡Ê/£±£¤T´ ¡ 4H^ m5±°¯4^®e^yª£ 5ª«`5£¤qu´Z5q4'K5«¯°?^/¸ 4®/eq°x4²Þ/3£¤Z¤«hÍä5±h44¡¹Û/^ÜD¬ª3±3/£i4±/«.&53±£®KT±4¤²//¬"?Ýd´Z´"5^¤£±3H5/3?q^4y^T33®Kq±¡%¨o´Z±4 ¥ qD4ª£Z53/?^44¤q`£¤±¶e¨/£¤/°/£i/^3^^/¬ ¡54&3±e ª¸:¡mqTe´ ¡Kq¥W®/£±mqqy¶¬D¢c4¦93¢·T3±meM^^3¬¤³q³q¡³ ¸º4e«Æ4^®e^yª£x£±¤«`yT4¤/x^³ ð5e"^ 5ª«`5£¤/¬5ª£¤£M4e°x/3"´"^3e445«`q¡4`°xu¡m^D3¥ ^/£/ª¡u´"^3=e4¤¡mq4¡uT$4 3ª«`£±q®/q£ªª¸m53±e4±²/³ 54/«`^T´ £±¤«`yi35h^K/y¡m±xT4¤/3'/9¤q¥ 4¤/©ª¸5q´ße&4¤/x%T¸ÿ3^u4 m3±5¨50 £ªx´Z5y ªÌD35'^^^//¬/445¡mZ^33q/¡·°?ª/y`*´ eqe43"±£±¤¨/«`^D3`q¡h^®e3^%D35q³e*3^3o«`^*/£¤4/ ¥ 4±x5q¤«`3±e5 3T³®/^«`5:qe5y^ K"44ªq:&3±ee£±®e":¡m3q53q43±°?£±:¤«`/y¡T3¤±£±e£¤^4³ yT4 ù bÄy ó õ =ÄÁ.=ÄyÄ ô ` a ô ö Ä À c ±D534=m«¡mª¤4¤/¤«h©ª4¸T®e5^3«`±e^4D±4 ¤qTq®/³,qM455q¯²7É°/e4`¨/¤¢c®/q¦9o¢ 4ËH¤ qe45y 4e5y"5^¡mq¡.°K²45Z3/°?ª³5q²¯^/hyxª5¨e"¡m²D¥ 45ª¯«`5^£¤//£±£¤²9 m¡mq5^3m±4¤¨
(32) / 3³"5`d«`q^3¨/45¤54¨
(33) %e^/x5qq3ª4q4¤/9e/£±e¡m55¨`34±55¨ 5£ª´"4353^u53±e4±²^®e/£¤m4¤/
(34) 4£±^³ degf hijgkijmlnporqskst'uvl]jmkswxiu8tmozy 5h¼yu/5|Í {%}KÝ:45`35£±hª¸"53±e4±²H¡mq^4/4 ª£¤/5¨``5£ª
(35) ~ F , Í Ý Í Ý +4 ½)^3 4q54qD3*35:4i/¸$u3q4/3^/¬ ±3 /3m^¤ª4q¡È53±e4±²/¬d/¡ Í Ýy%ª£¤£±mqT4¤/7^®e^Dq³ PMO deferred. Current Coordinated Plan Time−points with added constraints. Temporal constraint inside one robot plan Synchronisations between robot plans. 𠤨/4`Ñ4FZYZe°x/8D.xq¸ºe4«Z`¢c¦.³ qªi4T=´"3^5®e=^¼ux.ª£K"yACT4Bï ªx¸qª¸ºe£¤q4/«` ¡È/5°Kª²356[^$"4«`eI°x²9/¸äª6#¤£I°xÍäe^¥ 4=
(36) x" ±¼±\ q¡o:L¤"`7 7³ :L6["%$Ý¡m¸ºe4¸ºq°3¤.¡5# y6[.$"¢ 4¦ 椪qx¡±´"3/Ty´Z,7ͺ¼5¨£³ ª D 3ª$ <4%ÛeÝZ5D4¤£dT:£¤qeZe5ª¸*4HÉ°5£¤my¶D¤5¨DË.3/°?ªy Robot 4. State 1. State 3. New plan to Insert. Robot 3. No PMO in progress New coordination plan required by execution.. Time−points (events, resource use...). Robot 1. VU VU. State 0 PMO failure. New temporal constraint addede by the Plan Merging Operation. D. Plan merging operation. PMO success.
(37) 35q4,35£¤qq³È½o
(38) /£¤4Èy5Ke437¡m7«h¤5¤«ª£"±^4^¥ «`qe³.îKx¬x35`53±e4±4¤qª3¯5/¨e/¤5¨3'¡53/«`ª4±¥ qª£¤£±²
(39) yª5¨e5£±4±iZ5q^q34/4²e³ R1. Initial position. 4. Goal position. 7 6 2. 1. 3. 5. 8. Paths planned. R2. 5uq/4£¤±qZ4e5yq I®e±¨e5^53±e4±²/³ ´ /45q45£¤qcª3/55£¤±¡`¡m53±5¨u35i«`^3¨ª¥ ±/3¨²ee¬Kx´ q3ª4¡m¤/ ¡m³ ½)45`q¨/.¤®/´"4u54%e°xe¡m/3®T*ªD3I/®e¨/"445hi43ª«`3/5°?3ª¥ ´Z5y
(40) u4iq4^5/*°¡
(41) q345£±¡,3"h4455«`4¤^/33¨/±¤5²¨h±5/?^^3yTyª3±e^ 4³ F ½7"/3«h=4:xI®/*´"i4e°x/3 6 ª¡ 6 ¤¯^/m»& ¸º/354/¸ 3q4/3^q z Í Ýª¡ r Í 9KÝ&³ ¡ 6 ¤ {r }- ÅW¸ z |Í Ý r Í 9KÝ / 473/°?ªH¡m /¤5Í s¨z4 5 Í ©ÝÝ«`%^3'¨/¤5Í ¨ze xÍ qÝ3Ý ª4¤/)35^ sz Í 5[ Ý F z !Í 5Ý +r Í 9DÝ + $ 4¡ ¡ 6Lh5ª {%~¢~'ÅW¸ Í Ý £¤ Í 9KÝ /¥ 473/°?ªH¡m /¤5Í ¨ 4 5Í ©ÝÝ«`%^3'¨/¤5Í ¨ e xÍqÝ3Ý ª4¤/)35^ Í 5[ Ý F !Í 5Ý + Í 9DÝ ½)5^3[ 'Í Ýc3^4qey35u4q£±/4i^®e^D"/¸ ¬5ªx¡ $ 4¡¯45
(42) «`±5¤«ª£"±x3^«`^Dq³75¤.35£±'ª£¤£±T´i45 4e°x/d´Z5y/ 45"53±e4±²:e%Z3q4/5y 3:I®e h5±¨e5^Z4¤/3²e
(43) 3q4/3^q"5^¡mq¡,4°?%ª°£±4 ¸º4q 3ªª35^Z3/°?ªy"´Z5¤y´ªD4h3/¶/ ³ H45¤y¡¹45£¤9¸ºeÞÉ443/5¨©£¤±¶K3Ë4/³àîKxy £±¤5¶mz/33q4xe¡Æ40 K4q4xª£/x33/±D3·/ï45 «`^3¨/¤5¨·exq3ª4¤/~ Fzeq4®Tª4¤®/Ȥ4^44¤/ ¬¤3¥ «`5£^ªD535/q£"¯^/e44yyªª¤D¤e3yq^¬³&5³q'³¤^:yTª´ yyq5®/^^/¬$£c35eq433£¤/±5±D¶my.^¬ 5ªe355^£¡ 5ªi^4T4`²m^£±u¤
(44) 35¨/yª
(45) /¸^®e^D3q ³ ÅW¸ ´"uI®/u43/5¨h£±¤5¶,¸º4e« Í 9KÝ 4 |Í GÝ F ¸ 68"*5ª 4"3/°?ª¡me±5¨35«hq4¨e±¨ {¦~ }-ÅW§ /?^yT3±e35^ |Í Ý + Í 9DÝ + $ 4¡ {%¦z¢~9ÅW[ /?^yT3±e¸ 36[5'^ ¤.3z5 |Í 4Ý e +°x/`¡mre ±Í 9D¨ÈÝ 3 5«hq4¨e±¨ «`5Te®/4qu¡3/:x«`3m3¡m/±±¸ºD²u3"45^ /,4e°?°x/3¡m ²K°?^ªx«`I®D^¤ª/£¤£¤³d²`ðe/¡5 ¡m 5¡,ª«`e 53£¤/¥ ¬ 45 `e4^3®Iª4¤®/.±4^44¤/7ª£¤£±T´i:4
(46) ¸º/3°5¡È3/°?ª 6 ´Z3È5¤¨/^:4¤/3²,4°4ª¶35¯£¤/9ª¸ 6 ¬ ´Z5^hxq¸ºe4«¯7¢c ¦ .³½7'3qª4£¤±¶K¯ 475ª ¸ºª43qq¡±3q^4//m»3^&q%³F/ÅW8¸ ¸6 ´"9¸º¡m3//« ~¨ 3q44/H5y4¤%ª^[¸/6 4^3®T´ZT53±y®e ±xq3±e ¬ 6L`´"/5£¡o°x
(47) 3/5?q¡o3H£±^© 68¨/¬*ªx¡ 5^¡
(48) /5±ªx353^^i«`¢ ^¦D3/Q£
(49) 3^`/¨/`4/yª ¤³ D3Þ/4£¤¤5¶m3qª4¡ ¡m53±¨È35
(50) £/`«hq4¨e±¨7exq3ª4¤/ ³ÞoI®e/¡ªK² yª¨/:¤
(51) .53^®K¤/4£±²`5q¨/mT3q¡4²Ky53/5¤µqª4¤/ ¬ ´ u3^53q4^D"45q«Õ°K²,43/¨.£¤±¶Kq³ de ª hijgkijmln¤o~qskstguEl]jmkswx«¬i]kv§oz®8uEi]o d9^/«`5£¤²7´Z±4©35,4q®D¤/xu45£¤qq¬45'ª£¤¨//3±45« ±x3q/4q73q4/5y953±e4±4¤q7´Z5y0¡me~ ¨ 3T3¤¸º². (a) R1. 5. 7 6. R2 (b). 8. R1. 7. 3 5. 6 8. R1. 7. 4. 8 7. R2 (e). 8. R1. 7. 3. 4. 3. 4. R2. 8. Strong link. 2. Link between conflict resources. 3 5. 6. 2 3. 4. 1. Synchronisation constraints. 2 3. 6. ð ÍBe¤Ý¨/5Î 3K/Û]yF¡m¤¯T 53ª±«`e95£¤ªq¸%6 ª¸Z ^/®e/¡£¤m6 4¤/³©Íºª°?¸Ý&5¬ 3ÍB±qeÝ4¬ ±Íä²È¡xÝ&3¬ 5Í䣤qqݬ³ ͺ¸3ÝT´à¡mM^3^D3^¤È35h«hq4¨e±¨,ª¸ 6 5£ª ´Z^±e$4c5¤¨/554¤/3±²/³cÍä¨DÝ&¬mÍäxÝd45T´©¢c¦ 4qªZ¸ 6 5£¤/
(52) ´Z^ix/"45±¨e5qZ53±e4±²/³ ½o7¤D43K¡5©·4?qª£`ͺ®e^3²)5¤¨/xÝ,53±e4±²z4 3^4«`/4?q/¯yª£¤£±²,ª^4/%ª4¸yª5¤£5ª©¡
(53) 3/T¡'¯4´"ªi¡mH´ %5/q¯ª£¤£$´4ªD9É43H±¨e°?¤¡ 3x5ª433Ë"±¨eª¤¸K¡©4x=ª543£ª% /³ ¸455q=±3./5°?£¤ª/3d¯ª3¡5=5ª4¤£¤5£±T¨H´"3q5¡:,4i¤^4 m^q445¤/4 4/4me£B³ ½o9I®/´"?e3¤°5£¤H¸äª¤£±4`¸º/35,«`^3¨/¤5¨ exq3ª4¤/~ Fu3qª4¤/7ª¸"'´ª±^®/qD¸º3/«353±¨e¤¡ 3xoª47ª5¸/:.5¸º£3ª^¡Þ¬Te3 q^44/5Ty4¤e/³/ŧ¸xÞi4´¤ª±qq/®/4q,e´"*'/3^m4^T¤ª44q¡ 3¡55^H?^É4¢c¡m£¤q/
(54) ²¦Hq´Z45¨e¤±yz¨h¢c4/e4m£±®eqe¡Þ£¤Ë'°KÍÿ²¼¨x3³5Dh'4y5T¤4y%¡zÛDÝ&3³ ª4'ª¸ /4ð ±x¨e53¡$c³:ÛeÏiÝ/4T´i3dTª¯4 5ªe«`5y5£¤c´Z45qq4ªc345 ª4444qªc£¤£±²'35/£±4¥ ¡5^3qr¡ Fd3/°?ª /£±£¤m^ª4q35 K4e53^qd°x^¸º/3 ± R1 (h). Û. 2. 4. Rigid plan part. 1. 3. 6 7. X 2. 3. 6. R1 (g). 1 2. 5 6. 8. 2. 3. Resource Grey level represents the priority (the darker the higher priority). 2. 4 6. R2. 1. 3 5. 6. 8. X. 2 3. 6. R2 (f). 1 2. 5 6. R1. 2 3. 6. R2 (d). 1 2. 4 6. R2 (c). 2 3. 7. 5. 6. 2. 3. 1.
(55) £¤qI®eq35¯e5q:Kq5±^³E:^^/¬?°xI mq:ª44ª£¤£¤² T®e^3£¤/ ³ ð ±yHÍÿ¼x¨³Û·Íä°xÝ&¬ÍäÝ&¬Íä¡Ý¬¤Íäݬ¤Íº¸3ÝݬZ´ /3«h,4ª 6Lhe%ª£¤4/¡m²H«`q4¨eq¡oy5£ª ¬*ªx7 ¡m·Þ¢c¦ .³ 6 /54¤/3±²·e° 6 ¡ Íä6[y,3´q4ª/D33^3q I®e5¤¨/5qi53±e4±²5Ý&³ 𠤨/53%ÛÍä°xÝZ45T´i35%Mq /¸ 35¼y:4£±´Z±4H35¯¡m3qeuª¸53¤/3²,/£±e5¨ 5 £ªx^³" ÅW/£¤4`±¡5 ¤qT4:^/m»&yZ°?´"^^H3q4/3^q ^Í / Í D/4^Ý3¬ ®TT4ÍäÛD¤®/Ýd¯/±¡ 4^44ÍB¤Òe/Ý4dÝ&¬ª³ªÅWx¸¡¯6 : ª43£¤£¤/Kq¨:T3£¤±q5 ¶M ¬ª¡mÍ!D/Ý:c°x3:^¸º3/53 6 * ¬ 6 ´Z±£¤£M5ªZ°?/°5£±4ey5±q®/y £¤/ ³=îK¬K35 ^/4^3®TT4¤®/¤q3±e'^4T3q"4¤Z43/5¨`£¤±¶?³ 𠱨e54ÛÍBqÝh45T´i%35^®e/£¤m4¤/·ª¸:53¤/33±.¤ 6L¨ 5£ª©Í ÍÑIÝ&¬ Í!D/Ý&¬ ÍBÛeݪx¡ ÍBÚeÝÝF YZ
(56) 5£¤3v 4e{H 5¦~¨1 £¤r±5F¶6 ¸º 3/*« xq ¸ºe 4Í «`De ݤ54¨ 4 5i ¢ Í!D/¦ ݬM¹4ªx3¡%5.35^43± ¥ e4±²ª¸ Í D/Ýyxª5¨eq 4 Í DeÝ ³ 5^35£¤Z {}: /55£¤±¡4 ÍäÛDÝ$ª¡ ÍBÚeGÝ F$´" I0®e ÍÚ/Ý M ÍBÛeÝ M + Í DeÝ M Í DeÝ ³ ¡¼/£±£¤².35£¤¬ ¦ {±.r¬51r4 F Í ÍD/ÑIÝ Ý M Í Í D/DeÝ Ý ¬D³ /¡ 6[u¤:¡m/¤5¨h45%¢ 𠱨e54ÛÍä¡xÝ=45T´i35:q®//£¤m3±eª¸$53±e4±².¤R 6[ 5£ª'Í Í DeÝÝ ¡m5 44"35£¤q {Hr }x³ 5^.´Z3¯¼¨/¥ ¼53¨x³ ÛxÛ,ÍäͺÝ&³ ݬK0 ´ ¸ÿ4q=I3®/T:¯¬D/¤£±«`£m3±5£ªi"3^5®e£¤q/£¤mª43¤i/3T¤4R 6L¼q¡$5¬D£ªu´"3 qªyª°5£¤¤4%4²Ky53/5¤µqª4¤/`°x^´ q^35:3/°?ªy ͺ¼¨³dÛxÍÿ¸3Ý4Ý&²³ 6 ¨/Kqu°?¸ºe4± 6 ¸º/ ÍBÒeݬ°55¯´"/y ¸ºe8 6 4q£±/4±¨4e53^q !Í D/Ýi/¡ ÍäÛDÝ&¬Mª£¤£±T´Z¤5¨ 6 4ey5±q®/yZT´Z'5£¤/ ³ ŧg¼¨/4ÛÍä¨Dݬ¤ÍäxÝ&¬´"Þ/3«ho3T 6 e9ª£±¥ 3
(57) qe¢c¡m¦²Þ.«`³M^ð 3±¨/¨e5¡·4h±3ÛÍä¨D5Ýi£¤/4 5¬ZT´iªi¡·453hT±R 36 ¤/£ ´3ªªD43/h¬M´Z3Þ5¡my 3ͺ¼T3¨¤³¼ÛxqͺxcÝ44Ý"i´Z54^43qL :6#35£±¨eK^¬KqZ5qª£¤´eI¬/²K3 5°?u¸º²K/3 y56[3/ª³ ±µT4¤/ ±4¤q´Zª¶K¤y ©4Z¡m3q5^4q4=/43.5£¤/q£±qe¬q5e¨,5c35^/5¡m£ªqo^¤¡m5c3/4?:/444¤/54/¤/£±£¤4² ¥ 3©´ÈI²¸º/33qÞq/±D.34m3±¡m«`^Ȫ¸o443qeª54y«`,^D/,£±£¤m/¸u^T43¤±«he ȳ·±)5¤£hªx 3T`/£¤¡Þ¡5q3qe´ª±4¤5¨È¡5^£I²Kq³ 5'^ªÞ/£¤4 ¤3Dq443/K5¡5y 43`/°?ªIy®/´Z/«¯±4°55¨e£4ªxT3^u4e5°x3/±e3q4±³ ²H/ª£¤£*4^¤ 5^//^²Þ/¸3/°?ªyh4e4`°?¸ºe4He`ª¸ÿ4q /45q4e°x/3¡m53¤5¨o459¢ ¦ ª£¤£¤T´i`5ª/£±²3 5£Iª®exi3«¯/°?ªy3=£¤¸º//5"¨e^^«`"^43¨//q°x².^¸º3/e3/¶m³ q¬/°55/£¤44.«`^3¨/ ³ ´ Ä ô ó Ä^Z > ö µHö · À ¶ ô ù.Ä À ù 3½o5¯±qDD3®K4¤m4¡me5^«`^4D5u¡m?e4^34¤¤°5m¤3£±±±e9²4ye7¡5¡
(58) /:±m¸ºe54±«q3ª/43¤y/¤q3ª £ ¡m4^4¤m3±e ¬I/d:£±¤«`3q¡%e^4$4i3q4/5yM44e5¨/. e£±e4¡Þ3/¶/qq³½)3¹459´ ©5/4¤/´"HI®e /¡5¡5q¡
(59) «he4»^ m±°5¤£¤²35£ª'4^¼5^«`qe³Z¸ ¡m^¬ 445e55y±q3/±3Dy4q¤3q4ªq£4¡m¤/4^4¤em«h4¤/9m3/ª£±4£¤¤T/´i
(60) "44¤«h'e¡m³ q^4/4u45 ¹Eegf. º»jgo~i]¼Ji-½¬jg§¼ZtHi]ozy
(61) ksuEi-§ozy. ¹Ee ª. ¾kstgki]oz®xl*k¿ozw8y. Ù. i¤^yªyy5^ª£5£ªF¡m4^4¤m3±eFª£¤£±T´i,4z¡mq/£´Z±4 eª«h44ªm£¤3£¤²gª4¤/4'34¤4«`5/3q³Z¡ ð5eqiK®Dq¤e3y/'5«`3q^4D/yÈ3^ªxx¡g4¡$ʬ´"4%¡m^/ 4/,3¡5mq^3¤ª43©±°?%)5°5I¥®K5¤£¨eªTd3³±e
(62) ð5/£¤È/H 5±ª«`3^53£¤«`/¬u:´"ª©¸/e443¤¡5/°5/y£± ª¡o3K/«^¬ 45q¨/¤®/'¨/^e«`43^ª£=¡5q33±m3±e7/¸ 44e°x£¤/±«`
(63) ±«`Z4T5®/.q«`/^«`D35,5±3T43±¡me7
(64) °/5y3)¡5^3~ K@x/´Z«5³ß^'4¤^'3ª£¤£±ZT´i5 em»&i°?´"^^'3q4/5y ª:.¨e±®e^'£±q®/q£B¬K35^3u¤ 5©°m¥53^q4¡/33©^q^q/³ «`5m3xD44±°£±'±D3^y&4¤/·ª¸45q±. ½7:I®/i/£¤4/¡5¡m¡e£±e4¡%3/¶/qq³ 0 4=/¸M4/¶e^ ^/3ª¨/°xh'u/435mqT¡m3q¼¡o3q9¡oq/ey44ªe£¤£±5m3^^ª/4³H¤/75°D
(65) ²o4'4ee5°x3/^ ª¸5Z¨e±®e^K5«¯°?^ª¸m3/¶/q$/¸i?q^¼?=e£±eq³ ½)±4 45Z«`qyxª5«Õ´ %qª£¤±«`±Z45%K5«.°xqiª¸*3/°?ª3 ´Z5y7e5£¡9/qq3:4
(66)
(67) 3q4/5ye³5`e£±ei4e¶/q ¤.4q¡Þ47e¡5¡¤m¸º/3«T3±eÞ/45°m¥W3q4/5y^³oð5/ ^ 5/ª«`e544£¤m/¬e±T3/`3/4qey
(68) ´Ze35%q®/^eyª£±e£mqx³ª½)3¶D5¤5q¨u54£5/¯^q4qe¬ª°x´ / ´"/D3Z3
(69) qD4^:45`ª3q¬x±qª9¶K5T´ ´ZxT/4¯45 ¸º4qZª3¶K±¨£¤eqcª¡.4^3qª4i45°m¥W5£¤/.´Z±4 £±4Z^/m»x¤3q³ À òÆóô Àô b ó Äy ô "*à ô ½)5¤£±æ4 54q®K±e ®e^y¤/2/5£¤² 4q¡ ´"ª¥ ¡mª5¤«h¨e5q£ª4&±Ý&e¬T´"ª£K 5£Iª®e5 ¤^*^ª4/¡¯4/q5¡u 35¼5Z mq^¡¯ªx4/e°x±/²dª²K¸xx4u5ͺ35qq´ ¥ ±«`5£¤^«`qeyT3±eÞ°K²©/£±£¤T´Z¤5¨ÈÈ?Û _רe^e«h^43¤qª£"¡m¥ 4²K^4x¤om3ͺ±5e%e£±¸ºe/5 /^«`K®K`¤4«he5e«`°5¤^£±D
(70) 4ee °x3//q°?¬ ª5y/d5´Z±/4£¤h/5ªeK«h²3`/°?«`ªª3¥ °5¦H¤£±To®/«4Û _ª5¤Ð±5Ñ 5DÓW£Á³T3/5³³^³yÝ&e³ïÌD55o^5^/¡m¬ q4£¤²K4±¨±5£^ª45/4^.'/¤ ¸ 4¤«`È3qÌD5¤4¡3e«`5m4È5£¤/)±D3^y&4¤/x^³gd 445¡mi^q.ª£355£uT35±e4e°5³ £¤^«¬$´ `I®ehye4^93H¡m¤43¤°5m4 𠤨/53=Ù:45T´i 45"yª5¨eq$¤35c¨e£±e°ª£//3y3q&¥ 45&33/±³ e.5e=«`«`5^m3¨/3ª¤54¨¤/5`3ªm3cq¡555T4´·=¡m/¤¡434¤5°5 m44Û _Þ¡$Z³ i£¤/T´"±D^®e4q^¥ ¬ ´ £±q
(71) «3±4£¤x£cT5,qqm¡^^)5É3´Zq±e43)3/«`£¤Ë/33/¨/4x`ª4z7¡m´ q/£=3´Z/°?3ªÞy^5³Q3/d°m ¥ ¡m`4¤Z´"e£±£¤q:ª£¤£ ²Ky53/±µT4¤/x^¬mªx¡,¤K®/^y4.
(72) £±¤5¶m"´Z5y,^/u¡m/¡m£¤my¶?³*Ïi/4uª£¯4ª 35^3¤ /5£¤²'/5%°4D/¡5q/^ F35¯5£ª3«`^3¨/e³ :^^/¬?´ 4ª£¡'¡¡mT33³qeZ45°3ªD3¤/£±£¤²4iª«`/5D=/¸x33/«`±¥ Basic Plan Merging Protocol Robot which merges its plan. New Plan Merging Protocol. Other robots. Robot which merges its plan. Other robots. Transmission of needed resources. Resources reception. Plan’s transmission. Plan’s reception. Other robots plan reception. In case of potential conflict current plan transmission. Construct global plan and merging operation. Synchronizations transmission. £¤/ ³½7ª£4¬/°xq4®e4
(73) ¨e4T.K5«.°xq`ª¸4²Km¥ y4e5±µT3±ec°?´"^q35u´ i¤£ª3°?qqª4:35^² ¸º_e¤£±£±£¤¤T¨/´ qe/¬xy:F//°54£¤5q4q³¨eîm5em¡5q¬^8´Z:5±£yªÊ3¯/4««¯/£±Íº£¤¼^¨
(74) 'Ú4xÍäqªÝ4 Ý °?¸ºe4² _±£¤±¨e^D´Z5y·e.4©´"/HÍÿ¼x¨ÚÍä¡Ý4Ý.5D4¤£ 35´"¬ i¤£ª34e°x/3 xI®/=ª£¤«`ede«h£±^4^£¤²u3/¤4q¡ 35^¤iª3«^³^³^³. Plan merging between two plans Synchronizations constraints reception. Synchronizations constraints transmission. Global conflict management Synchronizations reception and update. Approvals transmission. (a). (b). (c). (d). Approvals reception and update. 5ð ^±¨e´)54¤«`:Ù5F£¤^¢=«`£^ªDm3¥§ª¦H4¤q/4'¨e±ª5£¤¨£±T´i4 /4%m¡me£x3ª4¤y°5ym53±4q¡,&4^/4«`e³ 5my5T ¥ 4¤/%/¸3q4/5y$±D3^y&4¤/d³5"ª«`/5D ª¸533/¥ «`44q¡¡5ª3hZ4q53q4^D4¡°K²35´Z¤¡m4ª¸*ª34T´iq³ ½)±474¤u¤«`5£±q«`^D3ª4¤/o´ ¡my/4^/£±£¤²4¡m 4£¤ª54hq«`^²34¨/¤¤«`5¨,c3^^/«`¡55dm43±5°x¨' ±£xT¡m4q^?^²'¡53^±«`D //³¸mŧ4È5 ¸ä/K5q«¯¬?4°?5^ ª¸ 3/°?ªyͺ45£±e5¨/"yª¨/¤c4¡m43±°554q¡,/5IÝ&³ ¸"mq¬x^®/q¸´"4¡mu35%e«`«¯55^ª4¤/'4¤«`/¬x ¤4¤£±£ £±¤5ª:¤935¯K5«.°xq/¸=4e°x/3q³ð/,¨/3qª K5«¯°?^Z/¸ 3/°?ªy^¬D4¤Z´Z¤£¤£ °xu35£¤±«`±3T3±e ³  ¿ ¶ÃµHö¬ô ¶ ô:À ÄÁ À ~ ½7i¡5q33±°?"´ u¤£±£¤4yT4¤®/^ m/«`5£± Fd45¼x3=/5 «`Íÿ¼^¨xD³eZÚ/Ý=´Z35T´i4^ ®e3^5y:ª£?/¶K°5±±£¤±¡²¯ª3%¸3¡m/q°?/ª£5y´Z^³35%4Û 4_q^^/K®K¡
(75) ±3//5m ¥ Íÿ¼¨x³5ÒeÝ"ZªHª5£±^ª4¤/'ª¸ £±e5¨`5£¤/¤q3±e ³ /"²Ki?¼qyZ"¤ 5ªª«`±x5¡m£¤:K/¤Ki®/4Û e_g£±®eqqcK4®D^¤3®e/^5yª«`£x^4De°x³*/3=/^¸d3%®Tªª33 ¥ 435ª43e^4§² FÁ²D?:q±.£ªª3/¸i¬"«`oe°55±/£¤,53//£¤°?/ª5ye¯«he%
(76) 4e4q°x¡/h¤Þ´Z±e45)¯o£ªo°?ªÒ ¥ ¡m^¨e4qq¯ª¸i¸º3^¡m/««ª±5£¤ª4/¬ _±£¤±¨e^DH|Í Ä8YiÙeÜ/Ü Ïi'e5«`/5e¡m/q«`Ý&¬u/£¤z/«`5/¯£¤/3//°?«`ª¤³±73/°?`ªqq¬ª©îm^//°xmÞq4®eÍäÏ:¯/5«T´/¡54¤5Ý& ¬ 4e°x/3qªo±4^44^¤%5£ªu°?¸ºe4e%T¸ÿ4qª35^ 4e°x/3q³ð5/`¤3ªxÁ _¤£±¤¨/qee%37´ª±h¸º/.45 îmem7ͺ¼¨Ú5ÍBqÝÝ,ª£±45e5¨/¹±,e±xq3q¡¹±3£¤/ ¼°xy^¸º/³%3 _5`±£¤±î5¨e^/D5q¬:u°5xm/':4ª5¸ÿ4`q,5¤°?¨/5ª4» ui5¤3£¤±/e449±²H3/ª°?ª¡Èy¨/K°?q¥ ^/35^¤:¤5±4ª£ ?e43±ei/4u¤453±¨e¤¡'/i/¸. (e) Hilare bis 1 Diligent (f) Hilare bis 1 Diligent Hilare bis 2 (g) Hilare bis 1 Diligent Hilare bis 2. ? ð e¤¨/45±43¤H/Ú*qFH³ Û4_^3¢ci£¤/ªm3¥W¦9¸º/^53=¨/¤35/¨°?³Qªy ÍäeFdÝ.¸º4ŧe5« ±4£¤ª£¸ÿ ª4¡·3±¨/¨eDeª£¬ :±£ª3±Dm¬îmemq¬J_±£¤±¨e^Dq¬Ji¤£ª3'Ñe³'îm^/m%x/u35 ±±¨eµqq5¡qx
(77) D5±34¤¤//3x^²e³"³×ͺÝͺ¬m°xÍÿݸ3¬.ݬ5ÍBqͺ¨DÝ&¬hÝ Íä5¡TÝ,´o3^i543±q«`4^5D£¤
Documents relatifs
Abbreviations used: DMEM, Dulbecco’s modified Eagle’s medium; ERK, extracellular-signal-regulated kinase; GFP, green fluorescent protein; GST, glutathione S-transferase;
To test whether the vesicular pool of Atat1 promotes the acetyl- ation of -tubulin in MTs, we isolated subcellular fractions from newborn mouse cortices and then assessed
Néanmoins, la dualité des acides (Lewis et Bronsted) est un système dispendieux, dont le recyclage est une opération complexe et par conséquent difficilement applicable à
Cette mutation familiale du gène MME est une substitution d’une base guanine par une base adenine sur le chromosome 3q25.2, ce qui induit un remplacement d’un acide aminé cystéine
En ouvrant cette page avec Netscape composer, vous verrez que le cadre prévu pour accueillir le panoramique a une taille déterminée, choisie par les concepteurs des hyperpaysages
Chaque séance durera deux heures, mais dans la seconde, seule la première heure sera consacrée à l'expérimentation décrite ici ; durant la seconde, les élèves travailleront sur
A time-varying respiratory elastance model is developed with a negative elastic component (E demand ), to describe the driving pressure generated during a patient initiated
The aim of this study was to assess, in three experimental fields representative of the various topoclimatological zones of Luxembourg, the impact of timing of fungicide