The use of micro aerial vehicles (MAV) for civilian use such as exploration and inspection of varying structures, equipment and areas have garnered some interest as of late. MAVs have the mobility and agility to traverse three dimensional space quickly and access hard to reach areas where other alternatives would struggle, but a flying platform such as a MAV comes with it’s own set of distinct problems. Almost any collision with the environment results in a complete failure of the platform. Any exploratory framework would need to perform obstacle avoidance and online path planning in a fully unknown environment with low computation times to ensure that the limited battery resources on the MAV is used in the most efficient way. In this thesis the exploratory rapidly-exploring random tree (ERRT) framework will be further optimized and an efficient strategy for finding valid exploration paths which are not in the immediate vicinity of the MAV will be developed and integrated. The method is demonstrated and proven through results from simulations and real life experiments.

Cette thèse vise à appliquer la théorie de la régulation en fonction des objectifs à l’analyse du comportement innovant au travail. Après avoir examiné l’état de l’art de la littérature sur l’innovation (premier chapitre), nous avons mené trois études empiriques sur des échantillons différents. Dans la première étude (deuxième chapitre), nous avons supposé et montré que la génération proactive des objectifs – incluant les processus de projection et de planification – était positivement liée au comportement innovant, et que l’engagement affectif, en interagissant avec la flexibilité du rôle ou avec le soutien du leader à l’innovation, modérait positivement cette relation. Dans la deuxième étude (troisième chapitre), nous avons proposé et montré que la planification médiatisait la relation entre la projection et l’innovation, et que l’habilitation psychologique et le soutien du leader à l’innovation modéraient positivement la relation entre la projection et la planification. Enfin, dans la troisième étude (quatrième chapitre), nous avons supposé et démontré que l’orientation d’apprentissage, le climat d’équipe pour l’innovation, et la variété dans la tâche stimulaient la performance innovante indirectement, à travers la médiation de la projection et de la planification, et que l’orientation d’apprentissage renforçait la relation entre la planification et l’innovation. Les implications théoriques et pratiques de nos études sont traitées dans la discussion générale. / The present dissertation aims at applying goal regulation theory to the study of innovative work behaviour. After reviewing the state-of-the-art of innovation literature (first chapter), we conducted three empirical studies on distinct samples. In the first study (second chapter), we hypothesized and found that proactive goal generation – which includes envisioning and planning processes – was positively related to innovative behaviour, and that affective commitment, interacting with production ownership or, alternatively, with leader support for innovation, strengthened this relationship. In the second study (third chapter), we proposed and showed that planning mediated the link between envisioning and innovation, and that psychological empowerment and team support for innovation positively moderated the relationship between envisioning and planning. Finally, in the third study (fourth chapter), we theorized and demonstrated that learning goal orientation, psychological climate for innovation, and task variety enhanced innovative performance indirectly through the mediation of envisioning and planning, and that learning goal orientation amplified the relationship between planning and innovation. Theoretical and practical implications of our works are addressed in the general discussion.