Middleware and programming models for multi-robot systems Stefan-Gabriel Chitic To cite this version: Stefan-Gabriel Chitic. Middleware and programming models for multi-robot systems. Robotics [cs.RO]. Université de Lyon, 2018. English. NNT : 2018LYSEI018. tel-01809505v2 HAL Id: tel-01809505 https://hal.archives-ouvertes.fr/tel-01809505v2 Submitted on 1 Feb 2019 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. N°d’ordre NNT : 2018LYSEI018 THESE de DOCTORAT DE L’UNIVERSITE DE LYON opérée au sein de L’INSTITUT NATIONAL DES SCIENCES APPLIQUÉES DE LYON Ecole Doctorale 512 INFORMATIQUE ET MATHÉMATIQUES Spécialité/ discipline de doctorat : Informatique Soutenue publiquement le 15/03/2018, par : ȘTEFAN-GABRIEL CHITIC Middleware and programming models for multi-robot systems Devant le jury composé de : Abderrafiaa KOUKAM Professeur Université de Technologie Rapporteur de Belfort-Montbéliard Philippe LALANDA Professeur Université́ Joseph Fourier, Rapporteur Saint-Martin-d'Hères Noury BOURAQADI Professeur IMT Lille Douai Président de jury Stéphanie CHOLLET Maître de Grenoble INP - Esisar, Examinatrice conférences Valence Olivier SIMONIN Professeur INSA Lyon Directeur de thèse Julien PONGE Maître de INSA Lyon Co-directeur de thèse conférences Cette thèse est accessible à l'adresse : http://theses.insa-lyon.fr/publication/2018LYSEI018/these.pdf © [S-G. Chitic], [2018], INSA Lyon, tous droits réservés Département FEDORA – INSA Lyon - Ecoles Doctorales – Quinquennal 2016-2020 SIGLE ÉCOLE DOCTORALE NOM ET COORDONNEES DU RESPONSABLE CHIMIE CHIMIE DE LYON M. Stéphane DANIELE Institut de recherches sur la catalyse et l’environnement de Lyon http://www.edchimie-lyon.fr IRCELYON-UMR 5256 Sec. : Renée EL MELHEM Équipe CDFA Bât. Blaise PASCAL, 3e étage 2 Avenue Albert EINSTEIN [email protected] 69 626 Villeurbanne CEDEX INSA : R. GOURDON [email protected] E.E.A. ÉLECTRONIQUE, M. Gérard SCORLETTI ÉLECTROTECHNIQUE, École Centrale de Lyon AUTOMATIQUE 36 Avenue Guy DE COLLONGUE 69 134 Écully http://edeea.ec-lyon.fr Tél : 04.72.18.60.97 Fax 04.78.43.37.17 Sec. : M.C. HAVGOUDOUKIAN [email protected] [email protected] E2M2 ÉVOLUTION, ÉCOSYSTÈME, M. Fabrice CORDEY MICROBIOLOGIE, MODÉLISATION CNRS UMR 5276 Lab. de géologie de Lyon Université Claude Bernard Lyon 1 http://e2m2.universite-lyon.fr Bât. Géode Sec. : Sylvie ROBERJOT 2 Rue Raphaël DUBOIS Bât. Atrium, UCB Lyon 1 69 622 Villeurbanne CEDEX Tél : 04.72.44.83.62 Tél : 06.07.53.89.13 INSA : H. CHARLES [email protected] [email protected] EDISS INTERDISCIPLINAIRE Mme Emmanuelle CANET-SOULAS SCIENCES-SANTÉ INSERM U1060, CarMeN lab, Univ. Lyon 1 Bâtiment IMBL http://www.ediss-lyon.fr 11 Avenue Jean CAPELLE INSA de Lyon Sec. : Sylvie ROBERJOT 69 621 Villeurbanne Bât. Atrium, UCB Lyon 1 Tél : 04.72.68.49.09 Fax : 04.72.68.49.16 Tél : 04.72.44.83.62 [email protected] INSA : M. LAGARDE [email protected] INFOMATHS INFORMATIQUE ET M. Luca ZAMBONI MATHÉMATIQUES Bât. Braconnier 43 Boulevard du 11 novembre 1918 http://edinfomaths.universite-lyon.fr 69 622 Villeurbanne CEDEX Sec. : Renée EL MELHEM Tél : 04.26.23.45.52 Bât. Blaise PASCAL, 3e étage [email protected] Tél : 04.72.43.80.46 Fax : 04.72.43.16.87 [email protected] Matériaux MATÉRIAUX DE LYON M. Jean-Yves BUFFIÈRE INSA de Lyon http://ed34.universite-lyon.fr MATEIS - Bât. Saint-Exupéry Sec. : Marion COMBE 7 Avenue Jean CAPELLE Tél : 04.72.43.71.70 Fax : 04.72.43.87.12 69 621 Villeurbanne CEDEX Bât. Direction Tél : 04.72.43.71.70 Fax : 04.72.43.85.28 [email protected] [email protected] MEGA MÉCANIQUE, ÉNERGÉTIQUE, M. Philippe BOISSE GÉNIE CIVIL, ACOUSTIQUE INSA de Lyon Laboratoire LAMCOS http://edmega.universite-lyon.fr Bâtiment Jacquard Sec. : Marion COMBE 25 bis Avenue Jean CAPELLE Tél : 04.72.43.71.70 Fax : 04.72.43.87.12 69 621 Villeurbanne CEDEX Bât. Direction Tél : 04.72.43.71.70 Fax : 04.72.43.72.37 [email protected] [email protected] ScSo ScSo* M. Christian MONTES Université Lyon 2 http://ed483.univ-lyon2.fr 86 Rue Pasteur Sec. : Viviane POLSINELLI 69 365 Lyon CEDEX 07 Brigitte DUBOIS [email protected] INSA : J.Y. TOUSSAINT Tél : 04.78.69.72.76 [email protected] *ScSo : Histoire, Géographie, Aménagement, Urbanisme, Archéologie, Science politique, Sociologie, Anthropologie Cette thèse est accessible à l'adresse : http://theses.insa-lyon.fr/publication/2018LYSEI018/these.pdf © [S-G. Chitic], [2018], INSA Lyon, tous droits réservés ii To Anda, my faithfully, lovely wife. Cette thèse est accessible à l'adresse : http://theses.insa-lyon.fr/publication/2018LYSEI018/these.pdf © [S-G. Chitic], [2018], INSA Lyon, tous droits réservés Cette thèse est accessible à l'adresse : http://theses.insa-lyon.fr/publication/2018LYSEI018/these.pdf © [S-G. Chitic], [2018], INSA Lyon, tous droits réservés Acknowledgements The journey behind this PhD thesis started in 2013 when I was a technical student at CERN. After discovering the previous year, the working environment in one of the largest software companies, my stay at CERN connected me with the research and academia world. I was curious to discover this new world that was, step by step, revealing to me during my internship. As a result, I have decided to continue my master’s degree with a PhD. First, I have contacted my co-supervisor, Dr. Julien Ponge with whom I have already worked on various projects during my bachelors and master’s degree. He then mange to find my thesis supervisor, Prof. Olivier Simonin and together to plan and start this magnificent journey, my PhD thesis. I would like first to thank my supervisor Prof. Olivier Simonin for his good guidance and support in a robotic research community. Having just a software engineer background, his advices helped me understand and apply robotic related concepts. It has been a great pleasure to work with him, both from a professional and a personal point of view. I would also like to thank deeply my co-supervisor Dr. Julien Ponge for all the time we worked together, for his support, technical debates and guidance. It was a pleasure and an honor to have him as a colleague and as a friend. Special thanks for the period when he supported me and give me the power to re-find my motivation to finish this PhD. Secondly, I would like to thank to Prof. Fabrice Valois for his precious administrative and moral support. It was a pleasure to have him as teacher in my master’s degree, as a laboratory head, and as a colleague. Many thanks to all the colleague and CITI stuff for their guidance and support. Thank you! It was a pleasure to work with you. Many thanks go to my reviewers and examiners of my PhD defense: Philippe Lalanda, Abder- rafiaa Koukam, Noury Bouraqadi and Stéphanie Chollet. It has been a great honor to have you all as part of the examination committee! The biggest and most profound thanks go to my wife, Anda-Catalina Chelba-Chitic for her deeply love, hard working in motivating me finish this PhD and profound support. I know that during these years of PhD, you have made sacrifices and I am thankful from all my heart that you not only accepted them but also endorsed them with all your love. Thanks, my love! i Cette thèse est accessible à l'adresse : http://theses.insa-lyon.fr/publication/2018LYSEI018/these.pdf © [S-G. Chitic], [2018], INSA Lyon, tous droits réservés Acknowledgements And finally let me switch to Romanian, my native language in order to thank to my parents. In final, mul¸tumirle cele mai c˘alduroase sunt pentru p˘arin¸tii mei, Gheorghe-Constantin Chitic ¸siMaria Chitic pentru simplu fapt c˘aau fost al˘aturi de mine la bine ¸sila rau. Probabil nu a¸sfi ajuns a¸sade departe in studiile ¸sicariera mea f˘ar˘aîncuraj˘arile ¸sieducatia care mi le-au oferit. Aceast˘alucrare le este dedicat˘a¸silor. V˘amul¸tumesc! Saint Genis Pouilly, 21 December 2017, on my 29th anniversary S. G. C. ii Cette thèse est accessible à l'adresse : http://theses.insa-lyon.fr/publication/2018LYSEI018/these.pdf © [S-G. Chitic], [2018], INSA Lyon, tous droits réservés Abstract Despite many years of work in robotics, there is still a lack of established software architec- ture and middleware for multi-robot systems. A robotic middleware should be designed to abstract the low-level hardware architecture, facilitate communication and integration of new software. This PhD thesis is focusing on middleware for multi-robot system and how we can improve existing frameworks for fleet purposes by adding multi-robot coordination services, development and massive deployment tools. We expect robots to be increasingly useful as they can take advantage of data pushed from other external devices in their decision making instead of just reacting to their local environment (sensors, cooperating robots in a fleet, etc.). This thesis first evaluates one of the most recent middleware for mobile robot(s), Robot operating system (ROS) and continues with a state of the art about the commonly used middleware in robotics. Based on the conclusions, we propose an original contribution in the multi-robot context, called SDfR (Service discovery for Robots), a service discovery mechanism for Robots.