Une architecture multi-agent pour la détection, la reconnaissance et l’identification de cibles Fabienne Ealet To cite this version: Fabienne Ealet. Une architecture multi-agent pour la détection, la reconnaissance et l’identification de cibles. Mathématiques [math]. Université Joseph-Fourier - Grenoble I, 2001. Français. �tel-00004678� HAL Id: tel-00004678 https://tel.archives-ouvertes.fr/tel-00004678 Submitted on 16 Feb 2004 HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d’enseignement et de recherche français ou étrangers, des laboratoires publics ou privés. ! !" # $%&' & ()*+,*+ !-& & %% !./&% & 3' 3"04 " 5&! 6 &0 001& 0& %& &% &% &&2 ! ! 2 & & /&%& /&%& /&%& " ! 04 ( 04 . ! & ! -" 766&0 %&6 "8! & 9* : "&& &-" -" - ! ; ' ! 3 3< % &4 &! % "4 %"% 4& 3&!&% &0 &&2; !" ! "0"0 & ; ' & &"" ! !6 " 04< "%"; /6"; & 6 " %. !. 6&! &! %. % ! 6 & " ! " &< 4 "4% = 0& 4& $ 0&! ! - >" !. "&!% !. ; '. ">' 0%&< 3 %"% .&! 6&% 4& 3 5&! "; $ &666 ! " %& ! &"0& 4& '; & !4& ! ! & ">&" '. %.& %6 !& "&! ! " &-&; = ! %& $%& &% !.%&6 $%&'< %" " &%; "0$ ! -" - 4& ; & ">&" '. %.& &""!< .&! %& 6&! 4& 3 001&; $ 4& .- 0 ! %.&- $& .0 ! ! 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'" !.%&6 < < < < < )<)< "&&" !.&!&& ! 24% < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < )C )E ,+ , , ,( ,( ,D ,, ,F ,F ,E < CD < CD < C) < C) < C, < CC < CC < CC < CF < F < FD < FD < FE < E( < E( < EB < EE < +( < +D < +B < +, ! < < < < B < ) < E < (C < (F 5 34 C )<)<( .&!&& ! & & !.&6 < < < < < < < < < < < < < D+ )<)<D !&& ! & & ! 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" < <( <D <B /% ! & < < < < " !. 6&0 .$" < < < < < < < < < >"& & "&" < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < , /0 1 5< 5<( 5<D 5<B %!4 !.&6 < < < < < < .&!%& < < < < < < >"0 !.$%& < < %%"& &6 < < < < < < < < < < < < < < < < % &/ / < < < < < < < < < < < < < < < < < < < < < %0! &&%4 < < < < < < << %0! ! .&6 "&& <<( %0! ! & &6 < < < <( & &$% ! 60 # < < < < < < < < < < <(< " < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < ,C < ,F < ,E < C+ < C < C( < CD < CB < C) < C) < C, < CC < CC 5 34 F <D <B <) <, <(<( %0! !% < < < < < <(<D &"0 & < < < < < - "-/ # &60% ! &0&% % !.& < < < < < < < < < < < " ! & < < < < < < < < < < < < < < ! ! & < < < < < < < < < < < ' < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < CF < CE < F < F < F( < F( 2 < <( <D <B <) (< (<( (<D (<B (<) (<, (<C (<F (<E (<+ D< D<( D<D D<B D<) D<, B< B<( B<D B<B B<) B<, /% ! -0" 0& ! !"< < < < < < < < < < < < < < < /% !. 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"&&"< < < < < < < < < < < < < < < < < < < < < < < < < < < FF B<( " ! %!4 ! %! < < < < < < < < < < < < < < < < < < < < < E+ B<D " ! & &2 %& "&" ! & ">&" !. < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < E( B<B "0%& ! " ! .&6 " < < < < < < < < < < < < < < < < < EB B<) " ! "&& ! "0& !& @ !.? < < < E) B<, ! & &" & %!4 ! & & ! "& &" < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < < E, B<C ! & &" &/ $%& < < < < < < < < EC B<F &" ! & ">&" !. "0& < < < < < < < < < < < < < < < < < EC B<E "&" ! & ">&" !& "0& < < < < < < < < < < < < < < EF B<(+ "0%& ! " ! .&6 "&& < < < < < < < < < < < < < < < EE B<( & &2 "&" & ">&" !& < < < < < < ++ B<(( "0%& ! " ! .&6 "< < < < < < < < < < < < < < < < < + B<(D " ! $"&& & %&6 < < < < < < < < < < < < < < < < < < < +( B<(B /% ! &6 ! $"&&< < < < < < < < < < < < < < < < < < < +( B<() "0%& ! " ! .&6 "&& < < < < < < < < < < < < < < < +D B<(, "0%& ! 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" & >6 (<)< PROBABILITE (CIBLE/DATA) PROBABILITE(ATTITUDE/CIBLE,DATA) ACCUMULATION DE L’EVIDENCE #1 #2 #n CLASSIFIEURS PARTIES DE CIBLES CLASSIFIEUR FOND INFORMATION IMAGE (<) O "&&" & & ! & "< "&> "% ! !K %!; "0&" & & $" ! & "! !. & ">' ! .= & "&&" & 4& !K -&/ 0&"0' R "0&' -& " & %! 7/8 ' &?J 4& "&?J & !. =< < 5! &! "%&& 4 & & "0 & & 0 ! .-!" &"0 &2 !& "&! ! & "&&" ! " S5! &!; EECT< $%&% &2 " & !> "%4 ! %!4 & %& "&! !.! 6/ .&-4 &!< -! " &"0 & !& "0& -&< & ! .& ! & $" B( %1 !")$! 4% ! & % "!&" ! %!4 04% 4 & 6% &! !& & &; & & & !- ! "&&" ; "&; ' & & -& ! & ! -&/ !.& 4 " "&&" - 6K< &- !6 & $" '& %0! !K # 6&0; "0' ! &6; "&" ! !&" > "&>< "& & " ! 6&0; " % M- &-% "%/< . & &!& 4& ! & 4 .$%& 4 $& "%% ". "& 0& ! !"< -&"0; ! &-&&6 66& & & ! "&&" & 6 ! ."!< ". "% " & ' ! " & "0< K & - ? ! % 6'; "%% & /% !& "& !.& ! &< 2 !. 4 !!&" -&& &6 ."&< "0' ! &6 % ! % ."& % & ; & &&6< "0' 6& 4 &/ & " & "' "0/ ! &!& &$ !.& -&& & &$%&< % & !&" %!4 ! 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">&"< ! & % "!&"; ! & 0 ! 6&0 ; &%% 868 ' % %& ! .&" ! "0"0< /% -+ ! (+0! *#-*'$$ & " ? "% !.&&% ""$< -" % &&%; 0204 $% 9&%% ""& .&! & "& ! & ":; &-" "!; -&! < .? ! " "0' !.! " ! &" $% ! !" ->"&< " ! !K $&N" !& " < / /% >6 (<, (<C< %0! %"& ; 6&; " ! !" -> "& !> "< K; ! 0204 $% !& &! ! $'" - ? ">% !& & &! ! $'"< .? ! %"& !&% !& & "0 ! $%& "%< & ! .& ! & $" BB détection reconnaissance - identification mise en correspondance de mise en correspondance de modèles modèles prédiction - vérification (<, O & " ! &" & ! & $" " & 0& ! !" détection sélection de primitives ou zone d’intérêt reconnaissance mise en correspondance de modèles identification mise en correspondance de modèles prédiction - vérification (<C O & " ! &" & ! & $" ." & & 0& ! !"< $& & -& ! & "&&" ! .!>"& & & & 4& & ; ! % &"0 " "! & & 6& & !" !.0204< - " '' /%< U 50& & ! ! & & & "&&" !.= D SU 50&; EECT< " ! "&&" &$ !"% & # O % !. 6 !& .%&6; ' "> !.&&2< "&; &60% ! &"% % - ! $&N" 4& %% & !%& %!4 .=< &60% % !.% & ."0< O % "!&" && H/ ! & 6 9%!4 !$%& :< O -&& ! & % "!&"< &"0 !/ " ! " &"< & ."0 ! & 6 % !& .&60% ! &"%< -> ! .&&%< "0/ ! %!4 & ? % "&< ; ! ""& -; & 6 ? &!&< & " "&; & $%& ! " 6 K"< << 5-!6 !- 24% ! "&&" &%&' ! " ' $ $%& ! $! 9&6 %&6:; $%& $&6 & " S5-!6 ; EECT< 24% $%& (<B " ! "&&" B) %"& &Æ 0204 ""& 2 ! " &!< "0%& ! " !" & >6 (<F # Capteurs : Détection FLIR LADAR Couleur Recherche de régions d’intérêt à partir d’une analyse de la couleur Génération d’hypothèses LADAR : indexation du type et de la position de la cible Modèles BRLCAD Arbres de décision (critère de couleur en détection) Interface graphique 3D Hors ligne Identification multicapteur Prédiction dynamique des attributs vérification : modèles 3D En ligne Identification de la cible (<F O "0%& ! " !. 24% % "& ! "&&" & %&' ! 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"> 6&0 & ! !!&" -&& &&< & >6 D<D ! & ! & & 6&0' !. & &2 " ! / ! ! & & 9-&; $&/:< & " /%; & ! ! > "! & & 5 & & ! & "!< B A A chaque noeud du graphe, on associe une table de probabilités contionnelles C États possibles du noeud C D E Combinaison des états possibles des noeuds parents : A et B F Vrai (V) Faux (F) A B V V P(C=V/A=V,B=V) P(C=F/A=V,B=V) V F P(C=V/A=V,B=F) P(C=F/A=V,B=F) F V P(C=V/A=F,B=V) P(C=F/A=F,B=V) F F P(C=V/A=F,B=F) P(C=F/A=F,B=F) tableau des probabilités conditionnelles D<D O /% ! & &2 .& -& " 4& >/ & -& ! -&& ! & '< & /% -&& ; & & &/< & !4 & " 4& &6 .H" ! -&& < / !/ 2 ! & "&"& !& & &2 4& &- & & < 3&; ' ' & & "0"0; %"&% !.$" & &6& ! $%& !> & & ! 5&2< /% &/ < P !/ -&& && .' > ! P # 9 : 9 : 9 : W 9 : W 9 : 9 : &-" 9 : W 9 : 9 : Y 9 : 9 : 9 : & & !. & ! .0204 ; &"0& .& ! .-& P; 9 : & -&%&" !.&- & .-& P " && .& ! .0204; D<) ."! ,) 9 : 9 : "-% & !.&- 0204 ! "& -&< " ! !" .K" & "&" ! %&/%% ! -&%&"< / ! &60% ! &6& /&" &/%< & &4 " = $ &/ &-&/ ! 60& &@ S60& &@; EE+T; ! 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"0/ !" ! &" &-" .-%< "0"0 7%8 "0&?J% !.&" ! 4% !< & &6 % M- !! ! &&%4 &%% ! & "&; ! .$%& ; ! .$%& "?< 24% 4& .$&" & & ! & "&&" & ! !"< & &6% < = !& !%& ! . & ! "4 & "&&" !.=; ! " & -&/ ! < =& S =&; EECT; ! < '4 S'4; (+++T ! 3&"0&! 0&% S3&"0&! 0&%; EEFT< & !%& ! & -&" ! &>" ; " &-&/ ! 5/ 6 S5/ 6; EE)T & ' &6 S &6 ; EEFT< < & < & .& ! & &2 ! & 4% ! & !" ! ?&% S& &; (+++T< %1 $ *!$ 6( *+$ %!4 ! 3&1- "&"0 91 2 2 33: / ! "0&?J ! 3&1-< "0&?J ! 3&1- !" ! " ! 3&1!" & &%& 4& & > 9 6 D<B:< t21 t11 TABLE DES TRANSITIONS E1 E2 t12 t22 Xt+1 E1 E2 E3 E1 t11 t12 t13 E2 t21 t22 t23 Xt t13 t23 E3 E3 t33 T33 D<B O /% ! "0&?J ! 3&1- %!4 ! 3&1- %!4 6&0' # ! -&& && &" & &< & "0&?J ! 3&1-; & & $% ! %&"< 0&' % ! & %&" "> & & ! & ! .& 4& .& < "0&' 6; & %% ! % 6& 4& < &0'% "" &! & & %% ! &" %6 ! ! 6& &4 < "0&' &; -4% ! & "%%&< D<) ."! ,C " !" -> .0204 ! 3&1- 4& .! 1< $ " "!; P & -&& !.& 94& -& !& ; (; D & >6 D<B:; & # 9 : W 9 : 4& .! ; " $%& %&0%&' ." # 9 : W 9 : ; ' "; & .& !.H" $< %!4 ! 3&1- "&"0 "0&?J ! 3&1- ! % ! &-" ! & !"% -&< &&4 ! & & ! &; $& !" "> & & ! -& 9>6 D<): TABLE DES TRANSITIONS Xt+1 E1 E2 E3 E1 t11 t12 t13 E2 t21 t22 t23 Xt t21 t11 E1 E2 t22 t12 t13 t33 E3 TABLE DES OBSERVATIONS t23 E3 T33 E1 E2 E3 O1 P1 P2 P3 O2 1-P1 1-P2 1-P3 D<) O /% !. %!4 ! 3&1- "&"0 "0&' &; 2 & !/ -& ( &-" ! & &" $" ! .&< !" "%4% %!4; $& !" &; -& -& ? ; & %&" ! -&; & %&" ! & & ! & ! &< % 3 & &6& ! .$%& !& 24% $& .0204 %& 1-< $%&% & !& "&! ! & "&&" !.=< $& ' .& & " /&"% H4 & & !. -% - 4& &- ! "&< !& %!4 ! "! &" &/ "& & /%; % 4& ! ! & & -&< &&?J %/ &!& &/ &"& 4 & ! % /"< ,F .&"0 & & $% !. & &2 !" $& .02 04 ' ! 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"0& - %& 9; : &-" < P -&& && " ! ' -> 9 : W + 9 : W < +; & & ! !" # W 9 : 6&%; L -&& && ' %& ! &&%4 % ; & ! # %& " ! 9>6 # B<,:< & " "& 9 : W 9 : W < 1 exp(-0.5*(t-2)*(t-2)/9) 0.9 0.8 0.7 0.6 0.5 Probabilité de détection 0.4 0.3 0.2 Probabilité de 0.1 0 -10 fausses alarmes -5 0 5 t 10 B<, O ! & &" & %!4 ! & & ! "& &" & & ! !" ." # W 9 : W 9 9 Y :: ! ! & %!4 ! & & ! "& &"< ; .&6 "&& -& / " $%& % & & ! !" &"0& ' & & ! & &; ! & %; "0&' "0& %& 9 ; :< & 6&0' ! " !/ ! & >6 B<C< 4 "0%&'%; - ' & ">&" "&&" ."& " !/ "< ; $& .0204 ' & %2 ! ."0& "! 4& . ! ! .-& ! ">&" &$ 4& & %2 < ; " .'& -& # W 9 9 Y :: W 9 : B<, %% ! &6 EC 1 exp(-0.5*(t+2)*(t+2)/16) exp(-0.5*(t-3)*(t-3)/9) 0.9 Le modèle L’échantillon (l’observation) 0.8 0.7 0.6 Probabilité de fausses alarmes 0.5 0.4 0.3 0.2 0.1 0 -20 -15 -10 µ0 -5 0 µIm 5 10 15 20 B<C O ! & &" &/ $%& & "'; ' .% ! & W ; & # & "& 6&; W Y W & "&& ; !% 4& .&! ! & ! $&"; & & ! !"< &- - "!%% ' & "0"0 !."0& !& %&6 .&2& & -&!& ! %0!< 4 " ; ."! &" 4& " "0& 6& 4& & %2 ! ."! ! "0&" ! %0!< " !" $% !. & &2 ' & >6 B<F< Att 1 Att 2 Att N Ech1 B<F O &" ! & ">&" !. "0& 0&' ! ."! & %0! ! !/ & "-% & 9-&: 9$&/:< & # 9 9 W : W ! W " : W ! EF " ! 24% & !> "%4 ! & &2 & 6&% & & !" ! & ! ! & "!< & -!%% $" ! % ! ! ; %& % !& "& ! >6 4& %2 % < & "& % 4 !/ %0! & .&6 "&&; "%% & /% -& ! 6 .0%6; & !" ! & $&N" -& # PAtt1=V PAtt1=F 1−Prd1 Prd1 PAtt2=V Prd2 PAtt2=F 1−Prd2 Att 2 Att 1 Ech Att1 V V F F Att2 V F V F Ech=V Ech=F 1 0 1/2 1/2 1/2 1/2 0 1 B<E O "&" ! & ">&" !& "0& K" -& & &2< & " /%; !/ %0! "&&" "0&< "; 9 # W : W 9 Y 9 Y 9 Y 9 # W W ( W : 9 W : 9( W : # W W ( W " : 9 W : 9( W " : # W W " ( W : 9 W " : 9( W : # W W " ( W " : 9 W " : 9( W " : . & !" ! &/ &2 70 5&2 /8 C 9- (<+: !- & A< < 302 4& .- ! 512< !" ! &/ < "0%& ! " ! .&6 "&& & >6 B<(+< .&6 "&& & "& ! = !" !& & & ! "&&" %&6 ! & %!& ! &% 9%&6 ! 60; !.0%6; <<<: "1 !& %!4 ! %! -&! ! / ! .%&6 ! "&&< ??BBB% % 03% ? 30?(3?% B<, %% ! &6 EE Modèle du monde Zone de l’image Objectif Recherche les échantillons instant t Images − localisation − intermédiaires Base de connaissance Calcule la confiance Echantillons méthode de localisation Confiance méthode de détection Active les agents détection demande de Agent Localisation création d’agents à l’administrateur (Zone, Objectif) utilisé par l’agent généré par l’agent B<(+ O "0%& ! " ! .&6 "&& "0&' 6 &&2 &' & % ! ">&" ! -& & &2< & &! .&&&" !. "0& /& &4 "" ! "&& ."! &4 "0&" ! %0! % M-< 4 '. "0& - !& .%&6; &6 " &"- &> ! !% "% ! .=< /7% ,! +! .&6 " ! ! !/ "%% !K # & !" ! ! = "&" ! & ">&" &"< $ ' ? !./& !. = 4& & !. ! "0&; # & !" .K" "&" ! 6 4& & ! ."0& /&< !.&"&6 "! & " ! 6&- ! ."0& "4 ! "&" !> & $%& &' "&" ."0& && & &!&& "&< .&6 & %2 9%2:; & -&&" 9-&: "Æ" 9"K: "> !& & & ! "&&" K" & "&"; -& & 46 # 9%& % '!: ( 9%& Y % '!: ++ " ! 24% -"; . ! / "&< .&6 !" .&!& "&% 4& -%< / .$ %& !& .%&6 &= &&%4< $ ! ' "& ' !/ & % ! "&" $" %?% ""; -& " ! "& &6%&-< & > ! " %!4 ! %! % 4& =< &" %0! ! !" . &&"0 & "" "&; 24% &%& 4& "0&' "0& /&< ' & !> %& &4 " B<,<(< !.&" &4 "0&' - "Æ" !.&&&" ; # & & !.&&&" "% ! &&%4 # O ! ">&" &&"0 &/ "0& ' ! &&" & 9"$< &&6&0 B<,<(: R O ! & >& ' & ! &&" & < $%& ! & " ! ! ">& .! ! 4 ) & &6 ! $"&& < & /%; ! "0"0 -0" ! 2 < & " "& " !"-& & >& 9; : R O >; ! ."! & 6%& %?%< & &2 ' "&" & ">&" !" & >6 B<(< Rel Sup_P Ech1 EchN id Seg Sup B<( O & &2 "&" & ">&" !& .="$ !. ! "&&" ! & !K $" 0204 "&< "&&" 6 % &' B<, %% ! &6 + &/ "0& & ; & ' ! $%& "/ < "& 0204 ' . & # O -0" O && % O &- " ! "/ "> !& & & ! & "! ' !/ & .! ! '; .! ! 4 & & &&< .&6 " / "0& & .%!& ! " ! 6& - ! $%& &' "0"0 !. =< & ! & 6%& "1 !& %!4 ! %! &4 -&& ! ."!< &6 " &&"0 4& ./& !. "0&< "0%& ! " &$ 4& .&6 " & >6 B<(( Modèle du monde Zone de l’image Objectif instant t Recherche les Echantillons supports Images − segmentation Base de connaissance Calcule la confiance méthode de détection méthode de focalisation Supports Confiance Active les agents − Focalisation − Décision Agent Détection demande de création d’agents à l’administrateur (Zone, Objectif) utilisé par l’agent généré par l’agent B<(( O "0%& ! " ! .&6 "< / ! &- 4& "0& /& !. =< 0&' & -& $ "& &-& !.? "1 !& %!4 ! %!< && ! .= '; ! !> ! - @ !.? -& .&6 "&& ! ! !" & & ! -& .&6 "< 4 ' !. = -; &6 " &"- -& & " ! .0204 $" ! $%& !=4& " "< !" "%4% "! !& &&6&0 B<,<,< +( " ! 24% &&4; & '. / ! &6 ! $"&& &" &4 .="$ "& ' . & /; ./& && - & .&"-& !. &6 ! "&&< /7/ ,! 3"$! .&6 "&& % ! !> ! - @ !.? 4& & ! !.= - !& .%&6 9>6 B<(D:; # / 9 : "% .&6 ! ! %! ! $"&&< -& 9:; & ! 9:; & !& .%&6 9 : 9>6 B<(D:< (a) (b) (c) (d) Région de focalisation B<(D O " ! $"&& & %&6 # 9&: ! ."0&; 9: $ "&& ."0&; 9": $"&& & ! ."0& 9!: $"&& & !& .%&6< &6 ! $"&&; &" &4 "0&' ""; "> !& & & ! "&&"< !" $% ! " ! ! &"& 2 ! $"&& - ="$< & /% "0"0 -0" 9(:; !=4& /&; $& "> & & -& # le paramètre d’activation le type d’agent F : 1 : FOCUS : S : 2 le nom de la méthode le nouvel objectif la relation spatiale B<(B O /% ! &6 ! $"&&< @ / &-6&! !& %&6 & 7%&6 $"& &8; !/ & ""< & ! $"& 6 ' "" "0"0 !K ! .' &-6&!< 4& & !. ; .&6 $"&& $ - @ !.? .="$ &"< ! &&%4 !. !. - &6 B<, %% ! &6 +D "&&< &6 "&& % ! 6 !& ./& && !& ./& 2%' ! "" -& " ! "& 6&- 9"$< &&6&0 D<B:< &6 "&& &"- ' !/ "! %&% & # O .&6 " & - &$ & "" !& .%&6 R O & % &6 ! $"&& "> " "" < Modèle du monde Zone de l’image Objectif instant t Recherche les nouvelles zones d’intérêt Base de connaissance Supports Image de focalisation méthode de focalisation méthode de localisation Active les agents localisation (sur nouvelle zone et avec un nouvel objectif) demande de création d’agents à l’administrateur Agent Focalisation (Zone, Objectif) utilisé par l’agent généré par l’agent B<() O "0%& ! " ! .&6 "&&< / !. = & &6 ! $"&& !" !& & & ! "&&" !> - @ !.? &" ="$< .&&2 ! .%&6 & - -& &6 ! "&&< 0&' &6 "&& / "0&' !.= !> - @ !.? ! - ="$ ! $&N" 4& - .&&2 ! .%&6 &-" & "& !. &6 "&&< "0%& ! " & >6 B<()< /71 ,! )(! .&6 3-% "0"0 ! = %-% &" % !."!< $: 4 .&60% & & A SA ; EECT< 4 &6% %> ' & & &- 4& & && ! $! & ! %0! -&& . &% & /< +B " ! 24% / 9 : .&"0 & & "& ! H ' $% "%% 4 % !.%&< .6 "% ! # O & "& ! H ' R O % ! 6&& ' - !" ' K" &6 !& 6 4 H ' 0%64 R O >; % ' & - ' &" $%& / . < &60%; !- & ! && * & < 0&&; $ .%&6 ! "0&% ! -< &- ! "!%% '. 2 &-& && !.&6 3-% " '. 2 &-& ! "" %-% ">< 5 -!%%; "&" ! .%&6 ! "0&% ! - . '& 4& K" '. $< & !.& "1 !& %!4 ! %!; % 4& & ! ! & & !.&6< "! !.'&6 % 4& .&6 !./& ! = %-%< 4 "0&' ; -& & %?% 00 ' "!%%; - &K" ">&" !& & %< "&" & % ! ">&"; .&6 3-% %?% "! ' " !" %0! ! "&&< $&; "0&% ! - "&&" !& & & ! "&&" & -& ! -&! ' %! $% !. 6&< .="$ !" ! "%& %!4 &-" & % 9- &&6&0 B<,<(:< .&6 3-% &"- !%&! ! .&6 "< ? &% 4& &6 ! - ' 4 - -& !%&! &&2 ! !"; & &! & >& < .&6 3-% -& !%&! 4& .&!%& & "& !. &6 "; "0&' $ '. -< .% ! "&&"' ! " &6 !" !& "0%& ! " & >6 B<(,< /77 ,! +$! .&6 " / !K " !.$%&; ' %- % .$%& "/; ">% ! 0204< & ? !"< &? ./& ! .%&6; !%&! - B<, %% ! &6 +) Modèle du monde Zone de l’image Objectif Recherche les supports en mouvement instant t Images − Mouvement Base de connaissance Supports Calcule la confiance Confiance méthode de détection de mouvement Active les agents Décision demande de Agent Mouvement création d’agents à l’administrateur (Zone, Objectif) utilisé par l’agent généré par l’agent B<(, O "0 %& ! " ! .&6 3-%< "0"0 ! = %-%< "0&' ; !%&! & "& !. &6 "; ! $&N" &4 ! &!% !"< &&2< %% .&- !=4& 6& !& " /; .&6 " ? &"- ! !/ %&4 !K # O ; !%&! ! .&6 " ! !" & " !. "; !. % ! & "4 R O ; !%&! ! .&6 3-% ! !" 6&% & " !. " !%&! ./& ! - @ !. ? !& .%&6< ' %?% 0204 7%-%8 7"8 -& !; 24% % &- !" " $" & ">&" &"< -&"0; &" ! " 0204 . ->; &" " . !"< %-% %& 6%; &&2 %& "&< & & "2" !.&&2 "&& !" $"&&< -&"0; " !"; %& '.&" $%& %- % . ; .0204 " !% ; -& & &; < "0%& "&&$ >6 B<(C< +, " ! 24% Entrées de l’agent Détection CIBLE Entrée de l’agent Mouvement MOUVEMENT Probabilité augmentée NON MOUVEMENT Probabilité diminuée NON CIBLE Poursuivre le recherche B<(C O %% ! .&6 " # 0204 % $" ! .! ! & "%&' ! $ "-% & &6 " 3-% "! 4& ! &" !K .&6 " / $%& -& ! " .&&2< % !.&"- " ! "&&" " & !"; ! - & 0& ! !" &"-& & " &- 4& ./& &&< "0%& ! " & >6 B<(F< Modèle du monde Zone de l’image Objectif instant t Base de connaissance Calcul la confiance Supports Confiance méthode de localisation méthode de reconnaissance Activation des agents − Localisation − Reconnaissance Images − segmentation − mouvement Agent Décision demande de création d’agents à l’administrateur utilisé par l’agent généré par l’agent B<(F O "0%& ! " ! .&6 " ) # &"0" !"% " # & & $% % &6; & & ! "&&" %!4 ! %!< O & & $% % &6 64 & !2&%' ! 24%< &6 &"- !%&! !. & &6< ! !4 '. & > &%< B<C " +C &6 !6 & ? "%% '. &!< 0 ! $"& ! .&6 6' !& &&6&0 B<D<( &' &= ! ">" -& ? ' &< 0&' &6 / " !.$%& & ="$ &"- & ! ./& ! & '" !.%&6< O & & ! "&&" $ &/ &6 $%& "& &4 % M-< O %!4 ! %! "1 $%& "" & & & !.&6< ."0 & " ! % ! !" ! "0 ! & "4 -< . %&4 6&; &6 !& &" 4& ! %< &-& = !& @ ! .%&6; &-" ="$ ! %0! ' < & &6 !./& !.&&2 . & >6 < !! ! !" "&% & &6< % !& "0& -&; "%% & %!>"& ! " "&&" % & 24% ! !- ! &6 !K< +F " ! 24% " # # ! ! ! ! !! ! . % % $% " + /0 + , /0 + % + , ' * # # # ) & ( ) ) # # & + & # ) # # ( + & /%&/ )< !" 24% % &6 % M- & !" "%4% & " ! "0& "!< &- !K %! ' "% 4& &- .&!%&; " "1& $%& & "&&" > & & !.&6< ! & !%&"0 ! !"; & ! & "&& &&; .&%& ! $%&" & & $ .&""%& ! $%&< 4& "0&' & & "0/ ! &6 H" %< > ! -& .&"0" ! 24%; "&&"' "0' $%&"; & &-" !K 2 !.%&6< + " " !" .&"0" % &6 %& -& 00 ! ! 2 % 0&!< & 04' "! 4& %&& ! & % P 970&!8:< $ ! %- " ! " 6 2"0< % ! .-% / & & & & ! 24%< %&& &"4% & !& "&! !.&"& % &6 ' .! ! ! 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" # ! $ % ! & % $ !! ! # ' ( ! $ # ! & ) ) ) $ ! !! ! %% ! $ ) ! & % !! ! $ $ % ! # %% ! & % & & ) >"0 "% ! B & 9"$< &&6&0 B<)<: ' # O & !" ! !%& ' ! % ! .%&6; $%& ! .%&6; B & /%&/ % ! & %4 %&6; % !.%&6 > & !."%& %&6< ! &&%4 ; . - & '% "& %&6 ! & '" 9& /%; !/:< O & ">"& ! & >/ % ="$ ! 24%< & ' " ="$ "! 4& % ! & ! ""< & " /%; .="$ & B "! & "" < O & "! ! -&!& & 6 ! & '" !.%&6< K; &- !=4& " ' "0&' - %&6 &; 2 & % &4 = ! & & ! "&&" " ! "0&< $%& ! " % &4 = !- $ &- ">&" Æ& ' ! ? 4& " ! -&!&< O & !" ! "" "> !K %0! "& &/ &6 &&%4 9"$ &/ <:< !6 %0! ! "&&; ! !" ! $"&&; "&&" "-% & %&' ..; . . . .< %0! ! "&& & ! "4 !. 9:; !.0%6 9 3 :; ! $&" 9 :< %0! ! !" & & "&" ! 6 9 :< > %0! ! $"&& 9 : "0"0 - @ !.?; &4 & ! .$%& "&; -& &6 !K # 9..:; 4& "? 9:; & 9 : !& .%&6< & " "0&; !.&&2 ! 24% $" ! !%&; ! ; ! "! ! -&!& ! &6 ! $"&&< ,- & ( & ! &; .="$ >& ! - ./& ! & '" & '. ! $&< /& 6! & ! 46 ! $"&& ! &$&"< "" & & ? & & &6 7!"8 . % "" ">; & &6 7!"8 . "> & ! 46 ! $"&&< -& &6 ; ! 24% !K< " &-" /%& !K # O &-" .&&2 !"; 24% "0"0 !"% -0" !& .%&6; & .&! ! % ! "/< O &-" .&&2 !" # 24% &6 ! $"&& # "0"0 -0" < 24% !/ &6 ! $"&& # "0"0 -0" )<B /& && ! .%&6 ) 4& "? ! < .% ! /%& & K" %&6 !& &&6&0 "! )<D< 1/ !"#$ & %4 /" 4 %< " &4 - -0" !& .%&6 & /"-% ! ! & & ! "&&" &&"0 4& " ""< .="$ & .="$ >& "$!< >"0 ! "& &" -& # ! ! !! ! " # ! $ % ! & % $ !! ! # ' ( ! $ # ! & ) ) !! ! $ $ % ! # %% ! & % .%&6 &&2 .%&6 !& &&6&0 )<D< & " , & /%&/ %&6; '& "" !> %& .2 & &" & ! $"&& " %< & &$ & "" -0" /< 6& !& & & ! "&&"< %!4 - -0" !& .%&6; &' 9-&/ ! 6 0%6: 6%' 9$&":< 0& ! "&&< & & !.&6 % M-; !& " /%; 6 '& 2 !.&6 # O &6 " !%&! .&"-& ! ./& && !& .%&6 & .%!& !. &6 ! "&&< " $%& %-% . / ' &" "%% 3-% . ">< O &6 "&& "0"0 !& .%&6 .% ! / ->& "& "> !& & & ! "&&" .="$ -0"< 4 0& !.'&6; $ ! 6 %& & "0&; &/' &" ! $%& &'< 4 '. "0& !> "0&" !./; .&6 "&& !%&! & "& !. &6 " R O "0&' &6 " / "0& /& !. =< " &6 ! $"&& . 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'& ! $& &&% ' ! & "% ,D ,,]< & ! %!4 ! %! &/ )<B /& && ! .%&6 C Objectif Initial Zone d’analyse Route Image 1 Agent Concept activation de la boucle exploration spatiale 1 Agent Localisation recherche les échantillons vérifiant les critères de gris, d’homogénéité, et de surface Résultat : 9 échantillons trouvés 9 Agent Détection Dès qu’un échantillon est trouvé Un agent Détection est crée 9 Agent Décision )< O "0&% ! & .&&2 !"< 6&0 & & & !.&6 " & 24% !" -0" & >6 )<D< !/ &6 & ! 2 4 >< 4 !%&! & "& !. > " 4 véhicules présents probabilite comprise entre 67 et 74% probabilite comprise entre 63 et 66% probabilite inferieure a 63 fausses alarmes véhicules détectés )<( O 6%& ! -0"< 4 6&"0; .%&6 & < % & " ! '& -0"< 4 !; & .%&6 ! 6%& < & " &" 4& "0&' & !.&&&" & ""< F & /%&/ .&&2< Premier agent dans l’image Les premières lettres donnent le type d’agent : C = Agent Concept L = Agent Localisation Dt = Agent Détection Dc = Agent Décision Dc_V Dc_V Dt_V Dt_V Dc_V Dt_V Dt_V C_V Dt_V L_V Dt_V Dc_V Dc_V La dernière lettre spécifie l’objectif V= VEHICULE Dt_V Dt_V Dt_V Dc_V Dc_V Donne la probabilité d’appartenance d’un support au concept véhicule Dc_V Dc_V )<D O &0 !.&6 !" -0" # & & % M- ! '& 2 !.&6 # &6 "; "&&; " "< " &6 %?% ="$ 4& &- "" -0"< 0&' &6 !" &" !& &" 4& !% # O .&" %&6 # &6 &-& !& 6 ! .%&6< &6 " "&& / .%&6< &6 " " . '.4& "& 6 ! .%&6 ' !> $" ! & $ & .&6 "&& R O .&" ! "" # &6 %?% ="$ # -0" R O .&" ! %0! # "0&' 2 !.&6 % M- ! %0! 4 !K !" &/ << &- ! " & !.&6; !"&& &&&?J 4 ? !& 24%< "? "0&6 "&% & "0&' &6< .& &; 2 & ! ! & ! &% ' % ! & & "0&6 ! "&" ! " !K< !&; .& ! "&& 4 "? % ! "&"; &%% ' " " .K" .%&6< && " ! ! ! ! 6&! ! % ./% ' - ! !< E<( ,;( 4 % %A% 2 ( ! ! .& ! "&& 66&< .4 .? ! & 4 % 4 % % )<B /& && ! .%&6 E $"&&; ' $& & 24% ! @ !.&&2 !%& % ! "&"< K; & "&& . K" '. $ & & ! .%&6; %?% !& "& !. '" !.%&6 '% % "" "0"0< = !& "&! ! /%; & & ! % ! "&" &K" &/ !K &6 & >6 )<B< )<B O & ! % ! "&" !K &6 # .&"-& !. &6; 6 /"< "& ' . &! & & > ! & "&& &"- &6 ! !"< $ !& " /%; & &&& &-% % '. . '.&/ & ! !" ! !"< -& ' & &&& ! &% & %?% ! &6 & ' .&-& !& !& .&-< .&; " " .& & & ! 4% ! &< & ! 6%& '& 4& 4 %2< -0" !" %&6 !.$%& ! !; %& &/ ! $& &&% %& 9BB]:< &- - ./" !K %&6< & &-% %&< " 2%& '% !" !"< ./" .%&6 ( 4% ! & !"< & ! & 6%& ! & >6 )<)< @ ! .%&6 9 & ! H4"0 6: -& %&" & "!< & '& !.$%& &- 4& & " 4 $& " " 2 !& -% "%/< ! 4& " !Æ"; "&! & "0"0; ! > ! .$%& "/ !& .%&6< 1/ -- ) !2 "&! !%& ! "0"0 ! $%& !.?; &- ! ! %!4 &!& & "/ !K " (+ & /%&/ probabilite comprise entre 40 et 45% probabilite comprise entre 55 et 65% 4 véhicules présents )<) O 6%& ! -0"< 4 6&"0; .%&6 & < % & " ! '& -0"< 4 !; & .%&6 ! 6 %& < & " &" &4 "0&' & !.&&&" & ""< " !& & "4< &; &&"0 4& ""; /% $% ! &6 ! $"&&< "> !& & & ! "& &"< & '; !& 24%; &6 ! $"&& !>< ! $"& # 78 ; 74& "?8 !. ; " 7&8 !& .%&6< !& " &&6&0 & !./%& &-" ; &-" &6 ! $"&&< &4 / & %4 ! ! "0"0 6&! " ! .%&6 4 24% & ! $ "0&" ! - -0"< ./% ! .%&6 !& &&6&0 )<D< "0 "%% ="$ & ; & "0& ' & &6 ! $"&& &" & ! "0"0 -0" < >"0 &" 4& " /% & & & ! "&&"; " ! # )<B /& && ! .%&6 ( ! ! !! ! " # ! $ % ! & % $ !! ! # ' ( ! $ # ! & ) ) & " /%; .="$ & ! "0"0 !& .%&6< "&; %0! ! "&& # & ! & &$% ! 60; ! . ! / ! & $&" ! 6< ; %0! ! !" % !./& "% ! "" < % & ! 6; >; & "& ! $"&&< " ! "0"0 4& & ! &-" &6 ! 2 78; "" -0" % D< 3?% & "0"0 ! &&?J "? % ! "&"; & % .? &-" $%&" < & & !.&6 = &" !& &" 4& !%< & " /%; !6 "' 2 !.&6 # &6 "; "&& (( & /%&/ ; "; "&& "< 2 & &6 %& & & 4& ./% "! ' .&6 "&&< -& % "0&6% !.="$ & " ! .&&2 "0&6% ! @ !.?< 0&' &6 &-& !& 6 ! .%&6 &-" ="$ ' < & "& ; .&" ! 5 " !/ % # 5W0"; < > ! 6 " &"&6 !& .&" ! ; &" !%& 4& "0&' 2 !.&6 ="$< & & /% !.&6 ! 2 "&& -0"< - " !& " & !"-& "06'% &6 !& 24% & " &< O .&6 " "0"0 & @ !.? & ' "%! & !$&; .%&6 R O .&6 "&& "0"0 "0& ->& "" < 4 & ! "0& -; 24% -& "! 4& !" ! < O &6 " ! ! & & ! ./& && -& ! &6 ! 2 "&& R O "0&' &6 "&& !> - @ !.? - ="$ 9-0": 4& $ 4& &6 ! "&&< ' & &6 ! 2 78; & @ !.? "! &/ /&< @ ' - ? &&2 &-" .="$ -0" & >6 )<,< 2 & ; !" 2 & &6 "&& FOCALISATION : "SUR" )<, O %&6 & @ !.? &" 4& .="$ -0" "< 0&" -& !%&! & "& !. &6 "&& &&2 & @ !.?< O &6 ! 2 "&& 0"; - ! $ )<B /& && ! .%&6 (D %& 6>"&- &- ! "" -0"< /& " "0& ' R O ! &6 " 0" / " "0& &&4 ! $&N" 4& /& < & & ! %! & " ! !=4& $% ! < & '; & &2 ' % ! "&" & ">&" !& !" & >6 )<C< 46 & -&& ) ' & ">&" !& Rel Sup_P Ech1 EchN id Seg Sup )<C O & &2 "&" & ">&" !& < 4; ". &4 ! ' & ! &&"< O >; 4& & ! "; .&6 !" "0"0 4& -&! .0204 &-" $%& %-% ' . & < " ! & !" >& & "0&6 & & < & ! 6%& & >6 )<F< 6 & ' -0" &&& -< " - &- !. & !.&&&" & "" "% ,C CB]< $& !.! ! "& "/ % !& " "& $& &&%; & !% & !.&&&"< " ./' ! $& ' & & !.&&&" ! ! %?% ! ! 6&! 9/&" % C+]: ' ! 2 -0"< " & &< 6&0 !.&6 & >6 )<E< !"% &"0 "& 4& & ! .&6 "&& 9 *:< / ! " &"0 % & &6 "&& 0" 9 :< " $%& 6>"&- &- & "" . - ; !" &% .&? ! %?%< & 4% &"0; "0& -0" "& (B & /%&/ probabilite comprise entre 67 et 74% Véhicule non détecté )<F O 6%& ! -0" &-" 46 !./& &&< 4 6&"0 .%&6 6&< 4 ! .%&6 ! 6%& " ! 6 ! -0" - & < OBJECTIF ROUTE Premier agent créé dans l’image OBJECTIF VEHICULE C_R Dt_R L_R Dt_R Fs_R Dt_V Dc_V Fs_R Dt_R L_V L_V Fs_R Dc_V Dt_V Dt_V Dc_V L_V DcV Donne la probabilité d’appartenance d’un support au concept véhicule Les premières lettres donnent le type d’agent : C = Agent Concept L = Agent Localisation Dt = Agent Détection F= Agent Focalisation ( indexé par un type : s = sur) Dc = Agent Décision La dernière lettre spécifie l’objectif V= VEHICULE R= ROUTE )<E O &0 !.&6 && & !" ! -0" -& & &6 !./&7 -0" 8< ' 2 !.&6 !/ "" !K < < - 4& -& !"% &"0< )<B /& && ! .%&6 () -" " ' &6 ! ; ! '& -0" . & !"< ; !& "&! &; 4% !.-& & %&" ! !"< ; "%% &/ ! $& &&% &/ ! !" . & < & " !Æ"; $& !% & "& "/ & 46 ! $"&&< ; / &6%& % ! 46 ! $"&&; &6% .&" !./ & 4 24% " ! - .$%& !.?< /% &-" !/ 46 ! $"&& 4& &- # O "0"0 -0" R O "0"0 -0" 4& "? ! < & & ! "&&" !" &6 -& & >6 )<+< & " /%; "" "% !%& !/ &6 ! $"&& < 6& !& >"0< & & 4& ./%& "!; - %?% 2 !.&6; ! %?% %?% < -&"0; & & 6 !./& ! .%&6 %!>< 4 & ! ! 2 ; !K @ !% & &6 $"&& ; "0"0 -0"< " & >6 )<< @ &" &4 & $"&& ! 2 78 ; & ' $"&& ! 2 7 4& "? !8 &&& &6< &'; "0&' ; !/ &6 $"&& &"-; "0&" "0"0& & @ !.?< & & !" ! -0" !& " %&6; "' 2 !.&6 "& 4& &-; &6 "; "&&; "; "&& "< !" -& !/ ="$ # 0"< &6 $"&& ' "? 4& & $ ./& !& .&" ! ./& !& .&" %&6< & ! 6%& & >6 )<(< G& -0" /&< ! ; ! 4& "? ! " %?% < "; & & &4 ./%& "!; !" -0" !& .%&6< -0" 4& "? ! & "&&" & & ! .! ! ,+]< % $ &/ & & < " & & & &2 ' "!4 & "/< & & ! & "! 4 & & ! $"&& % ! $" ! 0204< . "% & ' . -< & (, & /%&/ ! ! !! ! " # ! $ % ! & % $ !! ! # ' ( ! $ # ! & ) ) ) $ ! !! ! %% ! $ ) ! & !! ! $ $ % ! # %% ! & % )<+ O /% ! >"0 ! ">6& & !.- -0" & -; & '. $& ! "& -0" 4 ! & < 6&0 !./& &" 4& " 6%& & > 6 )<D< & & 4& ./%& "!; 2 & !!% ! &"0 ! $"&&< " 6> ' !/ &6 $"&& &"- '. -< 2 & $"&& ; "%% !& ./%& "!; ' "% & $"&& &4 "? ! < )<) /& !. '" !.%&6 (C FOCALISATION : "SUR" FOCALISATION : "A COTE DE" )< O % ! @ !.? !> & &6 "&&< &6; @ !. $"&& ! 2 78; " &- 4& $"&& ! 2 74& "? !8< véhicule détecté Probabilités d’appartenance au concept véhicule : probabilite comprise entre 67 et 74% probabilite inferieure a 63 )<( O 6%& ! -0" &-" !/ &6 ! $"&&< 4 6&"0; .%&6 6& 4& ! & ! & 6%&< G& -0" !" # & &4 "? ! & < %% ='.4& 4& .? ! ./& && ! .%&6< -& "0/ K"; "& & -< K; .&" !./& & !.&&&" -&< .% ! & . &/ &% & %&6; & %&& "! '" !.%&6 &%% " !."%& !.&!&&-< ,- & " & ( & !& &&6&0 "! &- "0 !. & & !.&6; 6&& & !; && !& " &&6&0; (F & /%&/ OBJECTIF ROUTE OBJECTIF VEHICULE Premier agent créé dans l’image L_R Dt_R C_R Fa_R L_R Fs_R L_V Dt_V Dt_R Fa_R Dc_V L_R Fs_R L_V L_V L_V Dt_V Dt_R Dc_V Dt_V Fs_R Dt_V Fa_R Dc_V L_V Dc_V L_V DcV Donne la probabilité d’appartenance d’un support au concept véhicule Les premières lettres donnent le type d’agent : C = Agent Concept L = Agent Localisation Dt = Agent Détection F= Agent Focalisation ( indexé par un type : s = sur, a = à côté de) Dc = Agent Décision La dernière lettre spécifie l’objectif V= VEHICULE R= ROUTE )<D O &0 !.&6 &$ 4& & !" ! -0" ' !/ 46 ! $"&& ">< .="$ & < 24% "0"0 -0" 4& "? ! < & % &" ! &6 &-" & %! ! 24%; ' %!4 ! %! & & ! "&&"< !& "& % " !.&!&&- & " $ !.$%&< 11 $ -+$ -! ) $#$' %% .&- !" & " ! "! "0& 24% ! ! !K "&&" !.&!&&< !6 "&% # O .&!&& "&; ' &%% & ! .&6 " '. &' &" &4 ."0& "& K" & 6%&< O .&!&& 6& !/ $% !K # &!&& ! & & !.&6 # & /%; & " ! % -% !& .%&6 "&! 24% 4& !%&! &&2 "%%& !& 6 ""< ! -&/ &6 )<) /& !. '" !.%&6 (E " ! 4& " !%&!< &!&& ! " ! ! # '" !.%&6; 24% "&& ! 6 ! & 6&" 4& % 4& = ! & & ! "&&" " ! "0&< - & -' $ - ! %!4 ! %! &-" !% ! &< % 6&% .H" ! ! -&!&< ( D B ) , C F )<B O '" ! $" E D+ & /%&/ ! !& " &&6&0 & ! !K $% !.&!& & 6& ! 24%< &- "0 ! & & '" !.%&6 % D 9- &&6&0 )<D:< '" "% ! E %&6< &- ! & 9&6%& $% ! -&/ ! 6: !& %&6 % ! $&N" &4 %/ % "&&"4 &!&&$ ! 24%< - ! & '" & " & >6 )<B 11 -! " --)"! ,!$ %% .&- " !& &&6&0 B<,<); .&6 %-% & & $" ! - !& 24%< = %-% & .&6 %-% ' !%&! "%% !.$%& &-" & "& !.&6 "&< & !& "%4% /%; &> ! "%! " ! $"% ! 24%< -& & %?% 00 ' "!%%; &- 6 &-" $&" 6&0' 4& & ! & %4 %&6 ! & '"; & ! "&&"< " & >6 )<)< "" -0" !" !& & & ! "&&" &-" "0&% % -%< ; 4& "0&' - %&6; .&6 " !%&! .&"-& !. &6 %-% &&4 ! ./& && ! .%&6< /& && $& -& &6 ! 2 78< 24% -& "0"0 -0" "0&%< & ! & 6%& & ! %-%; & %4 %&6 ! & '"; ! & >6 )<,< -0" '; %& 2 & '& & 6 &- ! "" $% ' /&< 0&' 6 &&&?J "%% " ; 4& & ! &' -& - .&&2< "0%% !& 6&0 !.&6 ! & >6 )<C< 6&0 " '' /"& "& !K4 ! 6&0 "!< K; !6 "&% !/ &"0 # O & %4 &- &4 ./& && ! .%&6< &4 6&"0 ! 6&0< "%%" & & "&& & !" ! "0&% !& .%&6< "0&' -; 46 ! $"&& &' # "0"0 -0" "0&%< 6 !=4& ' & & &"0 %-% &-" & -0" !" & / R O & !/4% &- 4& & "0"0 ! %-%< 4& ! 6&0< &"0 "& "' &"0 ' & ! & 6%& & ! %-% & % !./& "' 6< 3& ! " !> >&% "%% " & &6 ! "< )<) /& !. '" !.%&6 D * ! ! $ !! ! $ $ % ! % ! $ ( ) ! & % ) % & & ) & !! ! $ $ % ! %% ! $ " ! & ) $ ! !! ! % # ! $ ) % ! & % )<) O "0 ! ">6& &$ 4& & %4 %&6 ! & '" ! $"< )<, O 6%& ! @ %-% # &4 6&"0 .%&6 ! $" 4& !; & ! & 6%&< D( & /%&/ Premier agent créé dans l’image Les premières lettres donnent le type d’agent : C = Agent Concept L = Agent Localisation L_V Dt = Agent Détection F = Agent Focalisation (index s=sur) L_V M = Agent Mouvement Dc = Agent Décision C_C Dt_C L_C M_V Dc_V Fs_C Dt_C Dt_C Fs_C Fs_C L_V L_V Dt_C L_V Fs_C L_V L_V L_V L_V La dernière lettre spécifie l’objectif C = CHAMP V= VEHICULE Dt_V Dc_V Exploration Spatiale Mouvement )<C O &0 !.&6 " ! %-%< & & !.&6 % M- - -0" &"0&; ' ./& && &""%&6 ! & "0"0 ! $%& %-%< & " /%; .= !" & & " &4 & "0"0 ! %- %< " !? 4& & &! !./" ! " " & & 4& ./& &&< 3&; !& .&; ' -0" %-% - & . .& &"0< % !./" ! "0&" ! &6 & >6 )<F< & 6&0 !.&6; "& ' !/ &6 " &"- & " ! &% !. %&6< % &"- !%&! ! .&6 %-%; 6&! & @ %-% & !=4& ' &-" & -0"< & .&Æ%&$; " &"0 & % && $ & & !.&&&" & "" -0"< & "& ' ; .&-4 ' 6 %-% & " ' & "" -0"< ; &&2 &$! !%&!; " ' &! & & "& ! &6 "&&< & "% ! .$%& %-% % !.&6% & & !.&&&" ! & "" -0"< & & ! CE]; & ' & " $%& %-% & & ! ,)]< )<) /& !. '" !.%&6 DD )<F O & ! % ! "&" &6 # - &6 4& ./& ! .%&6 6 &6 &" 4& & " %-%< .&6 3-% &6 ! - ' % ! ! &!% !" .-& !. %&"< -&"0 " &&2 .&4 .? ! ./& && ' 6% & " !" & & &"0 %-% ! & ! % ! "&" 9-& & /% & "0&6 ! & %&"0<<<:; &" ' -0" ' 4& .&?< -& .$%& ! & &! !./"; "0% 6 % & " ' - ? %!>< 24% $" % /& & ! & "/ $%& $ ' %-%< 24% .&!& 4& & & "< 11% -! " &$ !!$$! ) '" ) ! %% .&- !" !& &&6&0 B<B<D; 24% "&&" 6&% & &""%& ! "&&" & " ! %< &"" %& ! "&&" & Y .K" !/ &< & % % 2 & " ! "0& &" 4& "" >/ !& ">&" Æ& 9 4& ! -&!&:< !& !/4% %; 2 & % 4& = ! & & ! "&&" &4 & ! &' &" 4& " "0&< 0& ! % 4& = DB & /%&/ * ! $ !! ! $ $ % ! % ! $ ( ) ! & % ) % & !! ! $ $ % ! %% ! $ " ! & ) $ ! !! ! % # ! $ ) % ! & % )<E O "0 ! ">6& &$ &4 & %4 %&6 ! & '"< "0&6 4& "0&' - %&6 & .&6 "< 11/ !8)! )! -)&! & " &&6&0 & ! " &" ! % 4& = ! & "&&"< "& &- "0 ! &-& &-" & '" & >6 )<B; !.-& 4& & ! " " & "&&" !.&!&& ! 24% $&" 4& & & !< 4 & ! & %4 %&6 ! " '"; >"0 ! ">6& & 6< " & >6 )<E< .="$ ! 6% &" & "" "0&%< "&; & ! 2 -&/ ! 6; 0%6 $&"; < .& 0%& "> ' "0& !- ? "- & % 4& = ! "&&" & "'; ! -&!& >/ 4& +< & ! )<) /& !. '" !.%&6 D) 6%& %4 %&6 ! & '" & >6 )<(+< )<(+ O & ! 6%& .&-4 ' 24% K" 6%& "" %&6 & $ & ! !& & !/4% %&6< "0&% / &< & !? & "&&"4 &!&&$ ! .&60%< ./"& 4 %< K; &&2 .%&6 ; .&6 " "%%" & " "0& ! .%&6 "! ' ">&" Æ&; $& % 4& = ! & & ! "&&"< !%&! & "& !. &6 "&& ' & &&2 &' % 4& = ! &&"0 &/ "0&< - $%& & .&6 " $& & "&" ! 6< . "% .&&2 &' & & .&6 "&& ' % &!&& & & & "/; - 4& - ! & -< 3&& ' &- - & ! 6%&; & ! " " &&2 ! & '" !.%&6; 6&!& 6&! & ' &" 4& "0&' ; & ' -&& ! 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