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School buildings. --- Environments --- Children

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Recent research is attempting to develop autonomous navigation algorithms that allow drones to navigate without the supervision of a pilot. Although the obtained results are promising, there are still many difficulties and no perfect solution, for the moment, exists.

This work is a research and development project on autonomous navigation algorithms for a small programmable drone in indoor environments free of dynamic obstacles. Practically, a Tello EDU has been chosen as the reference drone and the corridors of the Montefiore Institute have been considered as the environment. The hypothesis that the drone has access to a simple representation of its environment, in order to plan paths and analyze them, was posed.

First developed in a simulated environment and then adapted to the real world, algorithms working with Deep Learning models to perform image classification and depth estimation, and ArUco markers have been implemented and evaluated. More advanced elements such as battery station management or staircase passage are also addressed. Using a generic controller, developed in the framework of this work, these algorithms can be used on any drone model.

The tests carried out show that the drone can fly a simple path, from a starting point to an objective, in a completely autonomous way. The different methods studied have their strengths and weaknesses, discussed in this work. The main limitation of the developed algorithms is their robustness to errors and unexpected events. Several possible solutions are discussed.

Finally, this work ends by addressing the technological future of such systems, their integration into our modern society as well as their technical and legal limitations and dangers. Des recherches récentes tentent de développer des algorithmes de navigation autonome permettant aux drones de naviguer sans la supervision d'un pilote. Bien que les résultats obtenus soient prometteurs, les difficultés sont encore nombreuses et aucune solution parfaite n'existe pour l'instant.

Ce travail est un projet de recherche et développement sur des algorithmes de navigation autonome pour un petit drone programmable dans des environnements intérieurs exempts d'obstacles dynamiques. En pratique, un Tello EDU a été choisi comme drone de référence et les couloirs de l'Institut Montefiore ont été considérés comme l'environnement. L'hypothèse selon laquelle le drone a accès à une représentation simple de son environnement, afin de planifier des trajectoires et de les analyser, a été posée.

D'abord développés dans un environnement simulé, puis adaptés au monde réel, des algorithmes fonctionnant avec des modèles de Deep Learning pour effectuer la classification d'images et l'estimation de la profondeur, ainsi que des marqueurs ArUco ont été mis en œuvre et évalués. Des éléments plus avancés tels que la gestion des stations de batteries ou le passage d'escaliers sont également abordés. Grâce à un contrôleur générique, développé dans le cadre de ce travail, ces algorithmes peuvent être utilisés sur n'importe quel modèle de drone.

Les tests réalisés montrent que le drone peut effectuer un parcours simple, d'un point de départ à un objectif, de manière totalement autonome. Les différentes méthodes étudiées ont leurs forces et leurs faiblesses, discutées dans ce travail. La principale limite des algorithmes développés est leur robustesse aux erreurs et aux événements inattendus. Plusieurs solutions possibles sont discutées.

Enfin, ce travail se termine en abordant l'avenir technologique de tels systèmes, leur intégration dans notre société moderne ainsi que leurs limites et dangers techniques et juridiques.

computer-vision --- deep-learning --- autonomous-drone --- indoor-environments --- Ingénierie, informatique & technologie > Sciences informatiques

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Intellectual Disability --- Disability Evaluation. --- Residence Characteristics. --- Social Environment. --- #PBIB:2005.2 --- #PBIB:gift 2005 --- Environment, Social --- Social Ecology --- Ecologies, Social --- Ecology, Social --- Environments, Social --- Social Ecologies --- Social Environments --- Environment --- Community --- Domicile --- Living Arrangements --- Neighborhood --- Place of Birth --- Residential Selection --- Arrangement, Living --- Arrangements, Living --- Birth Place --- Characteristic, Residence --- Characteristics, Residence --- Communities --- Domiciles --- Living Arrangement --- Neighborhoods --- Residence Characteristic --- Residential Selections --- Selection, Residential --- Selections, Residential --- Disability Evaluations --- Evaluation, Disability --- Evaluations, Disability --- Eligibility Determination --- Rehabilitation --- Workers' Compensation --- International Classification of Functioning, Disability and Health --- diagnosis. --- Theses --- Social Context --- Context, Social --- Contexts, Social --- Social Contexts --- Disability Evaluation --- Residence Characteristics --- Social Environment --- diagnosis

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Alcohol Drinking. --- Social Environment. --- Drinking customs --- -Drinking of alcoholic beverages --- -Alcohol consumption --- Alcohol drinking --- Alcohol use --- Alcoholic beverage consumption --- Consumption of alcoholic beverages --- Drinking problem --- Liquor problem --- Social drinking --- Alcoholic beverages --- Alcoholism --- Temperance --- Manners and customs --- Environment, Social --- Social Ecology --- Ecologies, Social --- Ecology, Social --- Environments, Social --- Social Ecologies --- Social Environments --- Environment --- Alcohol Consumption --- Drinking, Alcohol --- Consumption, Alcohol --- Drinking --- Finland. --- Aland Islands --- Åland Islands --- Drinking of alcoholic beverages --- -Finland. --- Alcohol Drinking --- Social Environment --- �Aland Islands --- Åland Islands --- Alcohol Drinking Habits --- Alcohol Drinking Habit --- Drinking Habit, Alcohol --- Drinking Habits, Alcohol --- Habit, Alcohol Drinking --- Habits, Alcohol Drinking --- Alcohol Intake --- Alcohol Intakes --- Intake, Alcohol --- Social Context --- Context, Social --- Contexts, Social --- Social Contexts --- Consommation d'alcool --- Finlande --- 20e siècle