{"id":14186,"date":"2025-11-13T08:05:14","date_gmt":"2025-11-13T07:05:14","guid":{"rendered":"https:\/\/www.ibisc.univ-evry.fr\/rodolfo-pietrasanta-will-defend-his-doctoral-thesis-on-friday-november-14-2025-coordination-and-energy-optimization-applied-to-military-land-vehicles\/"},"modified":"2025-12-22T16:58:30","modified_gmt":"2025-12-22T15:58:30","slug":"rodolfo-pietrasanta-will-defend-his-doctoral-thesis-on-friday-november-14-2025-coordination-and-energy-optimization-applied-to-military-land-vehicles","status":"publish","type":"post","link":"https:\/\/www.ibisc.univ-evry.fr\/en\/rodolfo-pietrasanta-will-defend-his-doctoral-thesis-on-friday-november-14-2025-coordination-and-energy-optimization-applied-to-military-land-vehicles\/","title":{"rendered":"Rodolfo PIETRASANTA will defend his doctoral thesis on Friday, November 14, 2025: \u201cCoordination and energy optimization applied to military land vehicles\u201d"},"content":{"rendered":"
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Rodolfo PIETRASANTA soutient sa th\u00e8se de doctorat le vendredi 14 novembre 2025, 14h, Universit\u00e9 d\u2019\u00c9vry site Biblioth\u00e8que Universitaire, Salle des Lumi\u00e8res.<\/p>\n

La soutenance de th\u00e8se se d\u00e9roule \u00e0 huis clos<\/strong><\/span>.<\/p>\n

Titre<\/strong>:\u00a0<\/strong>Coordination et optimisation \u00e9nerg\u00e9tique appliqu\u00e9es aux v\u00e9hicules militaires terrestres<\/h2>\n

R\u00e9sum\u00e9<\/h2>\n
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Cette th\u00e8se d\u00e9veloppe et valide une strat\u00e9gie globale de coordination pour une flotte de v\u00e9hicules terrestres militaires. De plus, un algorithme it\u00e9ratif est appliqu\u00e9 aux r\u00e8gles de coordination d\u00e9riv\u00e9es afin de r\u00e9duire la consommation de carburant. Le travail s’articule autour de quatre axes fondamentaux : la mod\u00e9lisation des v\u00e9hicules, la th\u00e9orie des syst\u00e8mes multi-agents, les algorithmes d’optimisation et l’effet des d\u00e9lais de communication.<\/p>\n

Tout d’abord, le VBMR Griffon a \u00e9t\u00e9 adopt\u00e9 comme v\u00e9hicule de r\u00e9f\u00e9rence. Apr\u00e8s des mesures de terrain approfondies de la dynamique longitudinale, des param\u00e8tres moteur et du d\u00e9bit de carburant, un mod\u00e8le inspir\u00e9 de la physique mais calculatoirement efficace a \u00e9t\u00e9 formul\u00e9. Il capture l’efficacit\u00e9 de la transmission, la r\u00e9sistance au roulement et la tra\u00een\u00e9e a\u00e9rodynamique, et s’appuie sur une carte de consommation de carburant corr\u00e9lant les points de fonctionnement du moteur \u00e0 la consommation instantan\u00e9e. Des tests de validation sur circuit ferm\u00e9, impliquant plusieurs conducteurs et des man\u0153uvres standardis\u00e9es, ont confirm\u00e9 que les pr\u00e9dictions du mod\u00e8le correspondent \u00e0 la consommation r\u00e9elle dans des marges d’erreur acceptables.<\/p>\n

Ensuite, la th\u00e8se s’appuie sur des paradigmes de coordination multi-agents tels que le consensus et le flocking pour garantir un mouvement de convoi s\u00fbr et synchronis\u00e9. Les lois de consensus font porter l’accord sur une variable s\u00e9lectionn\u00e9e comme la position ou la vitesse. Les r\u00e8gles de flocking de s\u00e9paration, d’alignement et de coh\u00e9sion conduisent g\u00e9n\u00e9ralement \u00e0 une configuration de groupe coordonn\u00e9e. Pour des sc\u00e9narios r\u00e9duits, tels qu’en une dimension, ces r\u00e8gles peuvent \u00eatre adapt\u00e9es en un protocole de \u00ab platooning \u00bb, dans lequel chaque v\u00e9hicule communique uniquement avec son pr\u00e9d\u00e9cesseur imm\u00e9diat et son successeur imm\u00e9diat.<\/p>\n

Troisi\u00e8mement, s’appuyant sur le mod\u00e8le valid\u00e9 et le cadre de coordination, l’algorithme Fr\u00e9chet Discrete Gradient (FDG) est employ\u00e9. FDG traite les poids de communication interv\u00e9hicules comme des param\u00e8tres d’optimisation variables dans le temps, les ajustant dynamiquement pour minimiser une fonction de co\u00fbt int\u00e9grant la consommation de carburant. En assurant la continuit\u00e9 du co\u00fbt et en permettant des pas arbitraires, FDG aboutit \u00e0 une convergence robuste. Des simulations de convois multi-v\u00e9hicules d\u00e9montrent des \u00e9conomies de carburant constantes par rapport aux strat\u00e9gies \u00e0 poids fixes.<\/p>\n

Enfin, la th\u00e8se examine l’impact de d\u00e9lais de communication born\u00e9s en mod\u00e9lisant la dynamique de consensus sous forme d’\u00e9quations diff\u00e9rentielles \u00e0 retard et en d\u00e9rivant des conditions suffisantes et n\u00e9cessaires pour la convergence asymptotique. Bien que concise, cette analyse fournit des lignes directrices pour le choix des gains de contr\u00f4le afin de maintenir la coordination dans des latences de r\u00e9seau r\u00e9alistes.<\/p>\n<\/div>\n<\/div>

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Doctoral thesis jury composition<\/h3>\n<\/div>\n
\n\n\n\n\n\n\n\n\n\n\n
Jury member<\/th>\nTitle<\/th>\nAffiliation<\/th>\nRole in the committee<\/th>\n<\/tr>\n<\/thead>\n
Jean-Christophe PONSART<\/td>\nFull Professor<\/td>\nUniversit\u00e9 de Lorraine<\/td>\nReviewer<\/td>\n<\/tr>\n
Ahmed RACHID<\/td>\nFull Professor<\/td>\nUniversit\u00e9 de Picardie Jules Verne<\/td>\nReviewer<\/td>\n<\/tr>\n
William PASILLAS-LEPINE<\/td>\nResearch Director, CNRS<\/td>\nUniversit\u00e9 \u00c9vry Paris-Saclay<\/td>\nExaminer<\/td>\n<\/tr>\n
Reine TALI-KFOURY<\/td>\nResearch Director, CNRS<\/td>\nUniversit\u00e9 de Technologie de Compi\u00e8gne<\/td>\nExaminer<\/td>\n<\/tr>\n
Mohammed CHADLI<\/td>\nFull Professor<\/td>\nUniversit\u00e9 \u00c9vry Paris-Saclay<\/td>\nThesis supervisor<\/td>\n<\/tr>\n
Lydie NOUVELIERE<\/td>\nAssociate Professor with HDR<\/td>\nUniversit\u00e9 \u00c9vry Paris-Saclay<\/td>\nThesis co-director<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n

Rodolfo PIETRASANTA will defend his doctoral thesis on Friday, November 14, 2025, at 2 p.m., at the University of \u00c9vry, University Library, Salle des Lumi\u00e8res.<\/p>\n

The thesis defense will take place behind closed doors<\/strong><\/span>.<\/p>\n

Title:\u00a0<\/strong>Coordination and energy optimization applied to military land vehicles<\/h2>\n

Abstract<\/strong>:<\/h2>\n
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This thesis develops and validates a holistic coordination strategy for a fleet of military ground vehicles. In addition, an iterative algorithm is applied to the derived coordination rules in order to reduce fuel consumption. The work is structured around four pillars: vehicle modeling, multi-agent systems theory, optimization algorithms, and the effect of communication delays.<\/p>\n

First, the Arquus VBMR Griffon was adopted as the reference vehicle. After extensive field measurements of longitudinal dynamics, engine parameters, and fuel flow, a physics-inspired yet computationally efficient model was formulated. It captures drivetrain efficiency, rolling resistance, and aerodynamic drag, and relies on a fuel-consumption map correlating engine operating points to instantaneous fuel use. Validation tests on a closed circuit, involving multiple drivers and standardized maneuvers, confirmed that the model\u2019s predictions match real-world consumption within acceptable error margins.<\/p>\n

Second, the thesis draws on multi-agent coordination paradigms such as consensus and flocking to ensure safe, synchronized convoy motion. Consensus laws enforce agreement on a selected variable as the position or the velocity. The flocking rules of separation, alignment, and cohesion generally lead to a coordinated group configuration. For reduced scenarios, such as in one dimension, these rules can be adapted into a \u201cplatooning\u201d protocol in which each vehicle communicates only with its immediate predecessor and successor.<\/p>\n

Third, building on the validated model and coordination framework, the Fr\u00e9chet Discrete Gradient (FDG) algorithm is employed. FDG treats the inter-vehicle communication weights as time-varying optimization parameters, dynamically tuning them to minimize a cost function that integrates fuel consumption. By ensuring continuity of the cost and allowing arbitrary step sizes, FDG achieves robust convergence. Simulations of multi-vehicle convoys demonstrate consistent fuel savings compared to fixed-weight strategies.<\/p>\n

Finally, the thesis examines the impact of bounded communication delays by modeling consensus dynamics as delay differential equations and deriving sufficient and necessary conditions for asymptotic convergence. Although concise, this analysis provides guidelines for selecting control gains to maintain coordination under realistic network latencies.<\/p>\n<\/div>\n

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  • Date: Friday, November 14, 2025, 2 p.m.<\/li>\n
  • Location: \u00c9vry Paris-Saclay University, University Library, Salle des Lumi\u00e8res<\/li>\n
  • Doctoral student: Rodolfo PIETRASANTA (University of \u00c9vry, Paris Saclay University, IBISC SIAM\/ARQUA-RIUS Defense teams)<\/li>\n
  • Thesis supervisors: Mohammed CHADLI (Professor, University of \u00c9vry, IBISC SIAM team), thesis supervisor; Lydie NOUVELIERE (Senior Lecturer, University of \u00c9vry, IBISC SIAM team), co-supervisor<\/li>\n<\/ul>\n<\/div>
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