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U. Réponse-À-la-perte-d-'un and . Lors-de-la, rédaction de nos hypothèses de travail (voir chapitre 2), nous avons introduit la notion de robustesse à la perte d'un UUV. Nous avons vu que l'une des caractéristiques souhaitées pour notre système était de pouvoir continuer la mission malgré la disparition d'un UUV. Nous anticipons la défaillance d'un UUV, qu'il s'agisse d'un problème informatique, mécanique ou d'une gêne extérieure, Nous

. Dans-un-premier and . Temps, nous nous penchons sur le cas d'un UUV bloqué, mais continuant à émettre son ping de position au reste de l'essaim. Il n'y a donc aucune information sur le blocage de l'UUV, hormis sa position qui reste inchangée. Ce cas de figure (voir Fig. 5.24) illustre par exemple le blocage d'un engin sous-marin sur un obstacle non perçu à temps

. Afin, influence de cette perte sur l'ensemble de l'essaim, nous nous intéressons en particulier à la distribution des distances dans l'essaim. Sur la figure 5.25, nous constatons que l'IQR (surface en rose) n'est pas très impacté par cette perturbation. L'essaim met moins de 10 s à se séparer de l'élément défaillant

. Le-cas-d-'un-uuv-disparaissant-de-la-carte, donc n'émettant plus de ping, est similaire à la fusion de deux essaims, cas intéressant, pp.étudié ci-après

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