The VIATIC project aims at prototyping a robotic coordination system. The mission of the robots is to reach several targets having a slow motion and their position is not precisely known. This is a multi-robot / multi-target problem which has a strong dual character. The problem is to relocate targets previously indicated and to allocate the most suitable robot for a mission of interception, emergency or other mission depending on the scenario. The imperfect knowledge (incomplete map of the environment) and inaccurate (localization errors) are the essential elements of these scenarios. In the military field, the algorithms developed can be applied to the problem of interception of mobile targets with re-allocation. These multi-missile / multi-targets scenarios require the development of new strategies of guidance and allocation of cooperative objectives that can be applied to ground attacks in urban areas. In the civilian field, the application of this problem is the redistribution of electric vehicles with autonomous control functions in order to reach a charging station and / or a parking space. It is also a multi-vehicle / multi-target scenario for which viable trajectories have to be computed in constrained environments with conflicts avoidance and allocation of cooperative objectives. The coordination of the robots is done using optimization algorithms, embedded if possible, taking into account constraints and the uncertainty on the environment and on the location of the targets. The realization of the system is based on recent developments in viability and dynamic games theory. This application is a natural continuation of many works that have already been made, both theoretically and practically, regarding the capture of a static target by a robot. The introduction of constraints and obstacles, and the extension to a multi-target / multi-robot context generate more complexity. The existing approaches, to our knowledge, have great difficulties to treat such a problem. This project aims to explore a new solution, which can lead to good results despite the high complexity of the problem. The analysis and the solution of such problems are the main aims this project. It has the ambition to go from mathematical theory to experimentation on a real multi-robots system. The four partners involved in the project are among the leaders in their respective fields: - IRSEEM, as the designer of this project. IRSEEM will be in charge of the realization of the demonstrator and will be the coordinator. - CREA, as the research lab in viability and complexity theory. - LASTRE, as an expert in mathematics, software design and consulting. - MBDA France, worldwide leader in the development and manufacturing of missile systems.

Project DIVAS aims to identify promising and innovative technological ways in order to cut off CO2 emissions (by 10%) on Diesel engines. Strong downspeeding approach is addressed, in order to overcome scientific and technological locks in air loop management (increasing air filling for low end torque). Considering results already obtained by simulation, two concepts with strong potential have been identified ; target of the project is to explore more deeply these concepts, by advanced dedicated research and experimental work on adapted engines : - compressor (mechanical clutching compressor or electric compressor) + turbocompressor : this new technological way allows high increase of air filling, with benefits in CO2 emission. We propose to study and adapt prototype engine (adaptation of air loop) with advanced control strategies in order to take maximum advantage of air path, to study current technological locks (drivability, compressor drive power...) and to confirm potential on experimental tool - variable valve actuation + turbocompressor : innovative concept of variable valve actuation is proposed in order to allow scavenging (enhancing turbocharging and air filling) without penalties well known in Diesel engines (deep valve pockets in piston). We propose to validate on experimental engine good results obtained in simulation, identifying transient behavior and explore more in details concept in par load operation : lowering fuel / air ratio, after treatment control. Coupling these two techniques will be performed at the end of the program, after identification of synergies. This project is complementary to Synergy project, that aims to perform downspeeding but with different technological ways (2-stage turbocharging, VVA for part load operation). Moreover, experimental tools share some features (combustion system, generic VVA definition on K9 multi cylinder engine), that helps to better identify benefits and drawbacks of each approach and dramatically reduces costs linked to conception and tests.