C. Coordonnées-des, 130 IV.8 situation 1, 134 IV.11 Situation 4, p.137

T. Exemple-de, 78 III.6 Concepts de l'ontologie, p.81

E. Initcoal and .. , 91 III.16 Formation d'une coalition pour l'initiateur A 1 92 III.17 Schéma descriptif des comportements de chaque agent 94 III.18 Diagramme d'état de transition de l'état 0 vers l 98 III.19 Diagramme d'état de transition vers état 1, p.102

P. Legrand, .. Dans, J. Rdf, and .. , 116 IV.11 Diagramme de classes des agents 119 IV.13 Sous comportements les plus courants 122 IV.16 Représentation owl d'une instance d'un mur de l'habitat, p.123

.. Un-capteur-et-son-appartenance-À-un-mur and C. Noté, comportement de l'interrogation de l'ontologie 125 IV.23 Nombre de coalitions formées par rapport aux agents dans l'environnement127 IV.24 Temps de réponse 128 IV.25 Nombre de messages échangés 131 IV.27 Localisation pour la situation 1 134 IV.29 Localisation (x, y) pour la situation 3 avec deux agents y) pour la situation 3 avec trois agents, IV.21 Représentation owl 133 IV.28 Localisation pour la situation 2 136 IV.31 Localisation (y, ?) pour la situation 3 avec trois agents . . . . . . . . . . 137 IV.32 Localisation (x, y) pour la situation 4 avec deux agents . . . . . . . . . . 138 IV.33 Localisation (x, y) pour la situation 4 avec trois agents, p.139

. Bibliographie, Abdallah and V. Lesser. Organization-based cooperative coalition formation, IEEE IAT, 2004.

A. Augusto, Ambient Intelligence: Basic Concepts and Applications, Communications in Computer and Information Science : Software and Data Technologies, 2008.
DOI : 10.1007/978-3-540-70621-2_2

]. S. Bahadori2006, A. Bahadori, L. Cesta, G. R. Iocchi, D. Leone et al., Towards Ambient Intelligence For The Domestic Care Of The Elderly, 2006.
DOI : 10.1007/0-387-22991-4_2

[. Banâtre, C. Bryce, P. Couderc, and F. Weiss, Informatique diffuse, des concepts à la réalité, Hermes Science Publication, 2007.

[. Belabbas, Méthodes de conception de systèmes contrôle/commande reconfigurables en présence d'aléas : application au handicap Laboratoire d'Électronique des systèmes Temps Réel, 2007.

[. Bergamann, Ambient Intelligence for Decision Making in Fire Service Organizations, Lecture Notes in Computer Science : Ambient Intelligence, 2007.
DOI : 10.1007/978-3-540-76652-0_5

[. Tim, H. James, and L. Ora, The semantic web, Scientific American, vol.284, issue.5, pp.34-43, 2001.

]. R. Brooks1986 and . Brooks, A robust layered control system for a mobile robot, IEEE Journal on Robotics and Automation, vol.2, issue.1, pp.14-23, 1986.
DOI : 10.1109/JRA.1986.1087032

]. R. Brooks1991a and . Brooks, Intelligence without representation, Artificial Intelligence, vol.47, issue.1-3, pp.139-159, 1991.
DOI : 10.1016/0004-3702(91)90053-M

]. R. Brooks1991b and . Brooks, Intelligence without reason, Proceedings of the 12th International Joint Conference on Artificial Intelligence, pp.569-595, 1991.

]. M. Broxvall2007, W. Y. Broxvall, B. S. Kwon, and . Seo, The peis kernel : A middleware for ubiquitous robotics, Workshop on Ubiquitous Robotic Space Design and Applications, 2007.

]. C. Castelfranchi1990 and . Castelfranchi, Social power, Decentralized AI, pp.49-62, 1990.

P. Harry, F. Filip, S. Tim, and J. Anupam, Standard ontology for ubiquitous and pervasive applications, International Conference on Mobile and Ubiquitous Systems : Networking and Services, pp.258-267, 2004.

]. J. Cook2003, Y. Cook-diane, O. Michael, G. Heierman-edwin, R. Karthik et al., Mavhome : An agent-based smart home, percom : First IEEE International Conference on Pervasive Computing and Communications, p.521, 2003.

]. C. Cote2006, Y. Côté, D. Brosseau, C. Létourneau, F. Raïevsky et al., Robotic software integration using marie, The International Journal of Advanced Robotic Systems, vol.3, issue.1, pp.55-60, 2006.

]. F. Dignum1999, B. Dignum, R. Dunin-keÿplicz, and . Verbrugge, Dialogue in Team Formation, ESSLLI99 Workshop on the Foundations and Applications of Collective Agent-Based Systems (CABS), 1999.
DOI : 10.1007/10722777_18

]. F. Dignum2001, B. Dignum, R. Dunin-keÿplicz, and . Verbrugge, Agent Theory for Team Formation by Dialogue, Lecture Notes in Computer Science, pp.150-166, 2001.
DOI : 10.1007/3-540-44631-1_11

]. V. Drevelle2010, P. Drevelle, and . Bonnifait, Robust positioning using relaxed constraintpropagation, IROS 2010, pp.4843-4848, 2010.

. Drocourt, Localisation et modélisation de l'environnement d'un robot mobile par coopération de deux capteurs omnidirectionnels, 2002.

]. S. Enderle2001, H. Enderle, S. Utz, S. Sablatng, G. Simon et al., Miro : Middleware for autonomous mobile robots, IFAC Conference on Telematics Applications in Automation and Robotics, 2001.

[. Fatiha, L. Bernard, and D. Céline, Le rôle de l'ontologie de la tâche dans un habitat intelligent en télé-santé, 2007.

[. Fatiha, L. Bernard, and D. Céline, Habitat intelligent en télésanté : Ontologie de l'équipement, 2007.

H. Dieter, . Frank, H. Van, and L. Ian, McGuiness Deborah, and F. Pattel-Schneider Peter. Oil ; an ontologie infrastructure for the semantic web, IEEE Intelligent Systems, vol.16, issue.2, pp.38-45, 2001.

M. P. Georgeff and A. L. Lansky, Reactive, reasoning and planning, AAAI-87, pp.677-682, 1987.

]. A. Gning2006 and . Gning, Fusion multisensorielle ensembliste par propagation de contraintes sur les intervalles, 2006.

]. J. Gray1978 and . Gray, Notes on database operating systems Operating Systems : an Advanced Course, Lecture Notes in Computer Science, vol.60, pp.393-481, 1978.

]. M. Greaves2000, H. Greaves, J. Holmback, and . Bradshaw, What Is a Conversation Policy?, Issues in Agent Communication, pp.118-131, 2000.
DOI : 10.1007/10722777_8

[. Ian, Daml+oil : A description logic for the semantic web, IEEE Data Engeeniring Bulletin, vol.25, issue.1, pp.4-9, 2002.

]. C. Huang2009, C. Huang, A. Trappey, C. Trappey, and . Ku, The design of a jadebased autonomous workflow management system for collaborative soc design, Expert System, vol.36, issue.2, pp.2659-2669, 2009.

]. L. Jaulin1993, E. Jaulin, and . Walter, Set inversion via interval analysis for nonlinear bounded-error estimation, Automatica, vol.29, issue.4, pp.1053-1064, 1993.
DOI : 10.1016/0005-1098(93)90106-4

]. L. Jaulin2000a and . Jaulin, HDR, Le calcul ensembliste par analyse par intervalles, 2000.

[. Luc, K. Michel, W. Eric, and M. Dominique, Guaranteed robust nonlinear estimation with application to robot localization, IEEE Trans. SMC, PartC Applications and Review, vol.32, issue.4, 2002.

]. L. Jaulin2009 and . Jaulin, Robust set-membership state estimation; application to underwater robotics, Automatica, vol.45, issue.1, pp.202-206, 2009.
DOI : 10.1016/j.automatica.2008.06.013

]. M. Kieffer2000, L. Kieffer, E. Jaulin, D. Walter, and . Meizel, Robust autonomous robot localization using interval analysis, Reliable Computing, vol.6, issue.3, pp.337-362, 2000.
DOI : 10.1023/A:1009990700281

]. M. Kranz2006, R. Kranz, A. Rusu, M. Maldonado, A. Beetz et al., A player/stage system for context-aware intelligent environments, System Support for Ubiquitous Computing Workshop (UbiSys), 2006.

]. S. Kraus1998, K. Kraus, A. Sycara, and . Evenchik, Reaching agreements through argumentation: a logical model and implementation, Artificial Intelligence, vol.104, issue.1-2, pp.1-69, 1998.
DOI : 10.1016/S0004-3702(98)00078-2

]. S. Kraus2003, O. Kraus, G. Shehory, and . Taase, Coalition formation with uncertain heterogeneous information, Proceedings of the second international joint conference on Autonomous agents and multiagent systems , AAMAS '03, pp.1-8, 2003.
DOI : 10.1145/860575.860577

[. Lankri, Services et Navigation pour Personnes Dépendantes en Environments Domotiques Laboratoire en sciences et techniques de l'information, 2009.

[. Francis, Le langage d'ontologie web owl. Flash informatique, octobre, 2006.

[. Ora and R. Swick-ralph, Ressource description framework (rdf ) model and syntax specification, W3C, 2002.

]. D. Léveque1997, O. Meizel, L. Lévêque, E. Jaullin, and . Walter, Vehicule localization from inaccurate telemetric data? : a set of inversion approach, IFAC Symposium on robot Control SYROCO 97, pp.179-186, 1997.

]. H. Mazouzi2002, A. Mazouzi, S. Fallah-seghrouchni, and . Haddad, Open protocol design for complex interactions in multi-agent systems, Proceedings of the first international joint conference on Autonomous agents and multiagent systems part 2, AAMAS '02, pp.517-526, 2002.
DOI : 10.1145/544862.544866

]. R. Moore1979 and . Moore, Method and applications of internal analysis, In SIAM, 1979.

[. Nader, A. Jameela, and I. Jawhar, Middleware for robotics : A survey, Robotics, Automation, and Mechatronics, pp.736-742, 2008.

]. J. Nash1951 and . Nash, Non-cooperative games, Annals of Mathematics, pp.286-295

]. C. Ortiz2002, T. Ortiz, and . Rauenbusch, Dynamic negotiation, AAAI Workshop on Planning with and for Multiagent Systems, 2002.

]. V. Pareto1896, E. Pareto-ranganathan-arnand, H. Mcgrath-robert, M. M. Roy, and . Dennis, Cours d'économie politique Use of ontologies in a pervasive computing environnement, Lausanne, 1896. [Ranganathan2003], pp.209-220, 2003.

S. Anand, M. P. Rao, and . Georgeff, Modeling rational agents within a bdi-architecture, Second International Conference on Principles of Knowledge Representation and Reasoning (KR-91), pp.473-484, 1991.

]. P. Remahnino2006, H. Remahnino, N. Hagras, S. Monekoss, and . Velastin, Ambient intelligence a gentle introduction Ambient Intelligence A Novel Paradigm, 2006.

]. L. Reynet2009, O. Jaulin, G. Reynet, and . Chabert, Robust tdoa passive location using interval analysis and contractor programming, Radar, 2009.

[. Saffiotti, M. Broxvall, B. Seo, and Y. Cho, The peis-ecology project : a progress report, 2008.

]. T. Sandholm1999, K. Sandholm, M. Larson, O. Andersson, F. Shehory et al., Coalition structure generation with worst case guarantees, Artificial Intelligence, vol.111, issue.1-2, pp.209-238, 1999.
DOI : 10.1016/S0004-3702(99)00036-3

]. T. Scully2004, M. Scully, G. Madden, and . Lyons, Coalition calculation in a dynamic agent environment, Twenty-first international conference on Machine learning , ICML '04, 2004.
DOI : 10.1145/1015330.1015380

]. S. Sen2000, P. Sen, and . Dutta, Searching for the optimal coalition structure, the 3rd CEECMAS, pp.286-292, 2000.

]. L. Shapley1953 and . Shapley, A value for n-person games, Contribution to the Theory of Games, 1953.
DOI : 10.1017/CBO9780511528446.003

]. O. Shehory1998, S. Shehory, and . Kraus, Methods for task allocation via agent coalition formation, Artificial Intelligence, vol.101, issue.1-2, pp.165-200, 1998.
DOI : 10.1016/S0004-3702(98)00045-9

]. O. Shehory1999, S. Shehory, and . Kraus, Feasible Formation of Coalitions Among Autonomous Agents in Nonsuperadditive Environments, Computational Intelligence, vol.15, issue.3, pp.218-251, 1999.
DOI : 10.1111/0824-7935.00092

[. Yoav, Agent oriented programming, Artificial Intelligence, vol.60, pp.51-92, 1992.

]. M. Sims2003, C. Sims, V. Goldman, and . Lesser, Selforganization through bottom-up coalition formation, the 2nd AAMAS, 2003.

]. R. Smith1980 and . Smith, The Contract Net Protocol: High-Level Communication and Control in a Distributed Problem Solver, IEEE Transactions on computers, pp.1104-1113, 1980.
DOI : 10.1109/TC.1980.1675516

]. Smith2001, C. Smith, and . Welty, FOIS introduction, Proceedings of the international conference on Formal Ontology in Information Systems , FOIS '01, pp.3-9, 2001.
DOI : 10.1145/505168.505201

]. Soh2001, C. Soh, and . Tsatsoulis, Reflective negotiating agents for real-time multisensor target tracking, IJCAI'01, 2001.

]. Soh2002, C. Soh, and . Tsatsoulis, Allocation algorithms in dynamic negotiationbased coalition formation, AAMAS02 Workshop 7 "Teamwork and coalition formation, pp.16-23, 2002.

]. Soh2003, C. Soh, and . Tsatsoulis, Utility-based multiagent coalition formation with incomplete information and time constraints, IEEE SMC, 2003.

[. Songmin, G. Harunori, and T. Kunikatsu, Network distributed monitoring system for home service robots based on rt middleware, Advanced Computational Intelligence and Intelligent Informatics, issue.7, p.11, 2007.

[. Université, The Protégé Ontology Editor and Knowledge Acquisition System, 2005.

[. Tapus, J. M. Maja, and S. Brian, Socially assistive robotics [Grand Challenges of Robotics], IEEE Robotics & Automation Magazine, vol.14, issue.1, 2010.
DOI : 10.1109/MRA.2007.339605

M. Uschold and M. Gruninger, Ontologies : principles, methods, and applications. Knowledge engineering review, 1996.
DOI : 10.1017/s0269888900007797

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.111.5903

H. Xiao, Z. Da, G. Qing, P. Tao, . Hung et al., Ontology based context modeling and reasoning using a owl, PERCOMW '04, Second IEEE Annual Conference on Pervasive Computing and Communication Workshops, p.18, 2004.

[. Weiser, Hot topics-ubiquitous computing, Computer, vol.26, issue.10, 1993.
DOI : 10.1109/2.237456

R. Nicholas and . Jennings, Agent theories, architectures , and languages : a survey, Intelligent Agents, pp.1-22, 2009.