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diff --git a/Annee_2023_2024/Documentation/Plannification/gantt-planification.pdf b/Annee_2023_2024/Documentation/Plannification/gantt-planification.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..64b6707821cfdad11ba36d5cd385565c004f59aa
Binary files /dev/null and b/Annee_2023_2024/Documentation/Plannification/gantt-planification.pdf differ
diff --git a/Annee_2023_2024/Documentation/Plannification/gantt-planification.tex b/Annee_2023_2024/Documentation/Plannification/gantt-planification.tex
new file mode 100644
index 0000000000000000000000000000000000000000..29e412007993fcff01ede78f19b771bfad6df69c
--- /dev/null
+++ b/Annee_2023_2024/Documentation/Plannification/gantt-planification.tex
@@ -0,0 +1,191 @@
+\documentclass[12pt,a4paper]{article}
+\usepackage[utf8]{inputenc}
+\usepackage[french]{babel}
+\usepackage[dvipsnames]{xcolor}
+\usepackage[defaultfam,tabular,lining]{montserrat} % La font de l'EPSA
+%% only if the base font of the document is to be sans serif
+\usepackage[T1]{fontenc}
+\usepackage{mathtools}
+\renewcommand*\oldstylenums[1]{{\fontfamily{Montserrat-TOsF}\selectfont #1}}
+
+
+
+
+\usepackage{amsmath}
+\usepackage{amsfonts}
+\usepackage{amssymb}
+\usepackage{graphicx}
+\author{Chauchat Eymeric}
+
+\newlength{\xscale}
+\setlength{\xscale}{0.3pt}
+
+\usepackage[paperheight=35cm,paperwidth=50cm,left=0.5cm,right=0.5cm,top=0.5cm,bottom=0.5cm,heightrounded]{geometry}
+
+
+
+\usepackage{pgfgantt}
+
+\newif\ifdernierN
+
+\newif\ifDeuN
+
+\DeuNtrue
+
+\dernierNtrue
+
+\newcommand{\ganttrealBar}[3]{
+\ganttbar[
+bar height = 0.2
+,bar top shift= 0.4,
+bar/.append style={fill=red,draw=none, rounded corners = 2pt}]{#3}{#1}{#2}
+}
+
+\newcommand{\ganttprevBar}[3]{
+\ganttbar[
+bar left shift=.1,
+bar right shift=-.1,
+bar/.append style={fill=yellow,draw=none, rounded corners = 6pt}]{#3}{#1}{#2}
+}
+
+\newcommand{\ganttchangedBar}[3]{
+\ganttbar[
+bar height = 0.2
+,bar top shift= 0.4,
+bar/.append style={fill=green,draw=none, rounded corners = 2pt}]{#3}{#1}{#2}
+}
+
+\newcommand{\ganttidealBar}[3]{
+\ganttbar[
+bar height = 0.1
+,bar top shift= 0.45,
+bar/.append style={fill=violet,draw=none, rounded corners = 1pt}]{#3}{#1}{#2}
+}
+
+\newcommand{\ganttprevmilestone}[2]{
+\ganttmilestone[
+milestone/.append style={fill=cyan,xscale=\xscale ,yscale=1.5},
+milestone label font=\bfseries]{#2}{#1}
+}
+
+\newcommand{\ganttrealmilestone}[2]{
+\ganttmilestone[
+milestone/.append style={fill=red,xscale=\xscale ,yscale=1},
+milestone label font=\bfseries]{#2}{#1}
+}
+\newcommand{\ganttchangedmilestone}[2]{
+\ganttmilestone[
+milestone/.append style={fill=green,xscale=\xscale ,yscale=1},
+milestone label font=\bfseries]{#2}{#1}
+}
+
+\newcommand{\ganttidealmilestone}[2]{
+\ganttmilestone[
+milestone/.append style={fill=violet,xscale=\xscale ,yscale=1},
+milestone label font=\bfseries]{#2}{#1}
+}
+
+\newcommand{\pers}[1]{\up{#1}}
+
+\begin{document}
+
+%\begin{ganttchart}[
+%hgrid,
+%vgrid,
+%x unit=4mm,
+%time slot format=isodate
+%]{2022-03}{2023-07}
+%	\gantttitlecalendar{year, month=shortname} \\
+%
+%
+%\end{ganttchart}
+
+\def\pgfcalendarmonthletter#1{%
+\ifcase#1 \or J\or F\or M\or Av\or Ma\or J\or Ju \or A \or S \or O \or N \or D \fi%
+}
+
+%bar label node/.append style={draw=lightgray},
+
+\vspace*{1cm}
+
+{\centering
+\Huge Gantt de planification FASTBOT, option 3A
+\par}
+
+\bigskip
+{
+\LARGE
+Légende : Action Faite {\color{red}$\blacksquare$} Action changée {\color{green}$\blacksquare$}   Action prévu précédemment \ {\color{yellow}$\mathclap{\blacksquare}$\color{cyan}\Large$\mathclap{\blacklozenge}$}
+}
+\medskip
+
+\begin{ganttchart}[
+today=2023-11-22,
+today label=Maintenant,
+vgrid={*1{draw=white,dashed},*{13}{draw=none}},
+canvas/.style={fill=lightgray},
+title/.style = {fill=black,draw=white},
+title height=1,
+title label font=\color{white},
+milestone/.append style={fill=cyan,xscale=10},
+milestone label font=\bfseries,
+milestone label node/.append style={align=left},
+bar label node/.append style={align=right},
+y unit chart=8mm,
+x unit=2.2mm,
+time slot format=isodate,
+time slot unit = day,
+hgrid
+]{2023-11-21}{2024-03-31}
+
+\gantttitlecalendar{year, month= letter } \\
+
+%\ganttrealBar{}{}{}
+%\ganttprevBar{}{}{}
+%\ganttchangedBar{}{}{}
+%\ganttidealBar{}{}{}
+%
+%\ganttprevmilestone{}{}
+%\ganttrealmilestone{}{}
+%\ganttchangedmilestone{}{}
+%\ganttidealmilestone{}{}
+
+\ganttrealmilestone{2023-11-22}{ \raggedleft Réunion de lancement du projet} \\
+\ganttprevBar{2023-11-22}{2023-12-14}{Installation YOLO et entrainement sur le jeu de données de l'an dernier} \\
+\ganttprevBar{2023-11-22}{2023-12-6}{Installation de la carte, du ventilateur} \\
+\ganttprevBar{2023-11-22}{2023-11-30}{Design support caméra} \\
+\ganttprevmilestone{2023-11-30}{P1 :\quad Etat de la mise en route}\\
+\ganttprevBar{2023-11-30}{2023-12-14}{Tour de roue contrôlé par la Jetson NANO} \\
+\ganttprevBar{2023-11-30}{2023-12-6}{Impression et installation support caméra} \\
+\ganttprevBar{2023-12-7}{2023-12-14}{Prise des photos de plot pour la base de donnée}\\
+\ganttprevmilestone{2023-12-14}{P2 :\quad Fin du travail préliminaire sur la voiture \\ YOLO fonctionnel}\\
+\ganttrealBar{2023-12-17}{2024-1-2}{Vacances de Noël}\\
+\ganttprevBar{2024-1-2}{2024-1-25}{Détection des plots, entrainement et benchmark} \\
+\ganttprevmilestone{2024-1-11}{P3 :\quad Etat d'avancement de la detection des plots}\\
+\ganttprevmilestone{2024-1-25}{RVP1 : \quad Fin du travail sur les algorithmes de vision\\ \quad Présentation de la détection embarqué}\\ 
+\\
+\ganttprevBar{2024-1-25}{2024-2-8}{Elaboration de Monte Carlo sur Simulateur }\\
+\ganttprevBar{2024-1-25}{2024-2-8}{Projection Plot espace 2D }\\ 
+\ganttprevmilestone{2024-2-8}{P4 :\quad Etat d'avancement implémentation Monte Carlo }\\
+\ganttprevBar{2024-2-8}{2024-2-29}{Elaboration Monte Carlo embarqué}\\
+\ganttprevBar{2024-2-8}{2024-2-29}{Reprise du programme de navigation}\\
+\ganttprevmilestone{2024-2-15}{P5 :\quad Démonstration projection embarqué}\\
+\ganttrealBar{2024-2-17}{2024-2-25}{Vacances de Février}\\
+\ganttprevmilestone{2024-2-29}{RVP2 : \quad Démonstration Monte Carlo embarqué \\ \quad navigation fonctionnel sur simulateur}\\
+\\
+\ganttprevBar{2024-2-29}{2024-3-28}{Liaison des scripts de detection et de contrôle}\\
+\ganttprevmilestone{2024-3-14}{P6 :\quad Etat d'avancement, lien Vision algorithme}\\
+\ganttprevmilestone{2024-3-28}{Soutenance finale :  Tour du roue du Robot}\\
+
+
+
+
+
+
+
+
+
+
+\end{ganttchart}
+
+\end{document}
\ No newline at end of file
diff --git a/Annee_2023_2024/Documentation/Pre Projet/resume.aux b/Annee_2023_2024/Documentation/Pre Projet/resume.aux
index 859d551ca851a36b3a8bf5e1687cf2d04fe5793c..7870950d3286df282781fa98254ca624f49020d6 100644
--- a/Annee_2023_2024/Documentation/Pre Projet/resume.aux	
+++ b/Annee_2023_2024/Documentation/Pre Projet/resume.aux	
@@ -22,6 +22,12 @@
 \pgfsyspdfmark {pgfid2}{0}{37462122}
 \babel@aux{french}{}
 \@writefile{toc}{\contentsline {section}{\numberline {1}Introduction}{1}{section.1}\protected@file@percent }
-\@writefile{toc}{\contentsline {section}{\numberline {2}Voiture}{1}{section.2}\protected@file@percent }
-\@writefile{toc}{\contentsline {section}{\numberline {3}Plot}{1}{section.3}\protected@file@percent }
-\gdef \@abspage@last{2}
+\@writefile{toc}{\contentsline {section}{\numberline {2}Objectif projet}{1}{section.2}\protected@file@percent }
+\@writefile{toc}{\contentsline {section}{\numberline {3}Documentation}{2}{section.3}\protected@file@percent }
+\@writefile{toc}{\contentsline {subsection}{\numberline {3.1}Carnet d'adresse }{2}{subsection.3.1}\protected@file@percent }
+\@writefile{toc}{\contentsline {subsection}{\numberline {3.2}Livrables écrit}{2}{subsection.3.2}\protected@file@percent }
+\@writefile{toc}{\contentsline {section}{\numberline {4}Voiture}{2}{section.4}\protected@file@percent }
+\@writefile{toc}{\contentsline {section}{\numberline {5}Micro contrôleur, shield GPIO et caméra }{3}{section.5}\protected@file@percent }
+\@writefile{toc}{\contentsline {subsection}{\numberline {5.1}Jetson NANO}{3}{subsection.5.1}\protected@file@percent }
+\@writefile{toc}{\contentsline {section}{\numberline {6}Plot}{3}{section.6}\protected@file@percent }
+\gdef \@abspage@last{4}
diff --git a/Annee_2023_2024/Documentation/Pre Projet/resume.log b/Annee_2023_2024/Documentation/Pre Projet/resume.log
index edbdf46cc71f433c1860fb0485bcdaa4892a86f7..9958690ac3630aa689ee570faab19480dccaae02 100644
--- a/Annee_2023_2024/Documentation/Pre Projet/resume.log	
+++ b/Annee_2023_2024/Documentation/Pre Projet/resume.log	
@@ -1,4 +1,4 @@
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diff --git a/Annee_2023_2024/Documentation/Pre Projet/resume.out b/Annee_2023_2024/Documentation/Pre Projet/resume.out
index 0b1b9149a24bcd6f485dfb0585f780aadf7465ce..e9b237ba6200c6ef67cc891e23fe845c57c05737 100644
--- a/Annee_2023_2024/Documentation/Pre Projet/resume.out	
+++ b/Annee_2023_2024/Documentation/Pre Projet/resume.out	
@@ -1,3 +1,9 @@
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diff --git a/Annee_2023_2024/Documentation/Pre Projet/resume.pdf b/Annee_2023_2024/Documentation/Pre Projet/resume.pdf
index 44c98f00b324a02399833717fba5a2e5d55f557d..a6a0ea76e9d48cdfd55913660c1c60042aff37ba 100644
Binary files a/Annee_2023_2024/Documentation/Pre Projet/resume.pdf and b/Annee_2023_2024/Documentation/Pre Projet/resume.pdf differ
diff --git a/Annee_2023_2024/Documentation/Pre Projet/resume.tex b/Annee_2023_2024/Documentation/Pre Projet/resume.tex
index be778dfb73408fa48d0244801302650595e7e8a4..afe5e598771e7d62b45e253b37aed7557a674796 100644
--- a/Annee_2023_2024/Documentation/Pre Projet/resume.tex	
+++ b/Annee_2023_2024/Documentation/Pre Projet/resume.tex	
@@ -28,7 +28,8 @@
 \version{V1.0}
 
 \versionnement{
-\ver{V1.0}{11 Juillet 2023}{ ECT }{Rédaction initiale.}{1}
+\ver{V1.0}{22 Novembre 2023}{ ECT }{Ajout de complément.}{3}
+\ver{V0.8}{11 Juillet 2023}{ ECT }{Rédaction initiale.}{1}
 }
 
 \setuppack
@@ -41,14 +42,88 @@
 
 \section{Introduction}
 
+Ce document a pour but d'accélérer la prise en main du projet par la nouvelle équipe de 3A. Il explique les objectifs du projet, les ressources de départ et les rôles des personnes qui composent l'équipe d'encadrement. 
+
+\section{Objectif projet}
+
+% Projet de Janvier a Mars, 20h par semaine à 3 
+
+L'objectif principal du projet est d'obtenir le premier tour de roue entièrement autonome du véhicule réduit EPSA. Au vue des ressources temporel investi à la recherche des algorithmes de l'an dernier et des investissements matériels de cette année l'objectif est largement atteignable. L'accent doit être mit sur la fiabilité du résultat et non la vitesse à laquelle la voiture doit marcher. 
+
+Le projet peut être divisé en plusieurs tâches principales :
+\begin{itemize}
+\item 
+Mise en route, prise en main. Fabrication par impression 3D du support de la caméra. Fixation de la carte et de la caméra sur le support de la voiture. Essai des code de contrôle moteur.
+\item 
+Utilisation de la caméra de la voiture pour constituer une base de donnée d'image de plot prise sous la perspective de la voiture.
+\item 
+Entrainement des algorithmes de détection par ordinateur et utilisation des algorithmes sur le système embarqué. 
+\item 
+Elaboration des algorithmes de placement et implémentation sur la voiture
+\item 
+Liaison des deux types d'algorithmes et test de performances de la voiture sur piste
+\end{itemize}
+
+\section{Documentation}
+
+Plusieurs livrables écrit sont joint à ce début de projet pour facilité la mise en route.
+
+\subsection{Carnet d'adresse }
+
+Liste des personnes entourant le projet.
+
+\begin{itemize}
+
+\item
+\textbf{Professeurs tuteurs :}
+\begin{itemize}
+\item \textbf{René Chalon :} rene.chalon@ec-lyon.fr
+\item \textbf{Mohsen Ardabilian} : mohsen.ardabilian@ec-lyon.fr
+\end{itemize}
+\item 
+\textbf{représentant du commanditaire ESPA :} (a ne pas hésiter à contacter)
+\begin{itemize}
+\item \textbf{Eymeric Chauchat} : eymeric.chauchat@etu.ec-lyon.fr \textit{Commanditaire Projet PAr 2022-2023, transmission connaissance, suivi technique }
+\item \textbf{Maxime Lemonnier} : maxime.lemonnier@etu.ec-lyon.fr \textit{Membre EPSA 2022-2023, suivi du projet en présence}
+\end{itemize}
+
+\end{itemize}
+
+
+\subsection{Livrables écrit}
+
+Les ressources écrites de l'ancien projet sont disponible dans le dossier "Annee 2023 2024/Resume année précédente" :
+\begin{itemize}
+\item 
+Fiche de lancement de projet. (hautement similaire à celle de ce projet)
+\item
+\textbf{Rapport final des deux PAr}, ces deux ressources sont importantes elles donnent la plupart des informations théorique nécessaire à la réalisation du projet.
+\item 
+Présentation et travail préliminaire sur le projet PAr, présente le projet dans sa globalité et le travail préliminaire qui a été fait avant de rédiger la fiche projet.
+\end{itemize}
+
+Il y a aussi des ressources spécifique à ce projet, comme la fiche de lancement de projet ou l'explication des scripts Discover pour l'expérimentation autour de l'algorithme de Monte-Carlo. On peut aussi retrouver le gantt prévisionnel dans Plannification.
+
 \section{Voiture}
 
 La voiture choisi pour cette deuxième édition du PaR est la TT-02 de Tamiya. La voiture est quatre roues motrices, possède un moteur à balais avec son contrôleur. Elle est fournit avec deux batteries NiMh 4000mAh et son chargeur. L'entraxe des fixations de la carrosserie (qui sert de fixation pour l'intelligence embarqué) est de 26cm x 6.5cm. Théoriquement cette voiture est un modèle réduit 1:10 cependant par rapport à Valkyriz (dernière voiture de l'EPSA) elle est réduite de 1:7  :
 
 Entraxe de Valkyriz 1605mm $\times$ 1384mm , Entraxe de TT-02 260mm $\times$ 180mm
 
+\section{Micro contrôleur, shield GPIO et caméra }
+
+La voiture est livré avec une Jetson Nano, sa caméra et une carte de contrôle d'entrée sortie. Cette carte permet l'implémentation, de tout les algorithmes directement sur la voiture. Son système d'exploitation est un dérivé de Linux et elle est hautement optimisé pour le calcul parallèle. Elle est accompagné de la caméra utilisé pour le projet et d'une carte GPIO qui contrôle les deux moteurs de la voiture (direction et vitesse). 
+Il faut rajouter au tout une powerbank pour alimenter la Jetson NANO de manière autonome (ou d'acheter un shield régulateur pour Jetson Nano )
+
+\subsection{Jetson NANO}
+
+La carte de contrôle est l'organe le plus chère du projet, prière d'y faire attention.
+Pour la programmer, le plus simple est de brancher un écran en HDMI (les adapteurs VGA to HDMI ont du mal avec la Jetson NANO), un clavier, une souris et de brancher une power bank ou un chargeur usb sur son port de Power.
+
+La carte est fournit pré-installé et avec \textbf{le script de contrôle basique du moteur en son sein}. 
+
 \section{Plot}
 
-Les plots de la compétition sont des plots de taille 228 mm $\times$ 228 mm $\times$ 325 mm. Les plots bleus sont à gauche de la piste et les plots jaunes sont à droite de la piste. (Voir DE 6.4 Driverless Events Track Marking du FSG Competition Handbook 2023)
+Les plots de la compétition sont des plots de taille 228 mm $\times$ 228 mm $\times$ 325 mm. Les plots bleus sont à gauche de la piste et les plots jaunes sont à droite de la piste. (Voir DE 6.4 Driverless Events Track Marking du FSG Competition Handbook 2023). Des plots jouets sont fournis avec le projet, ils se rapproche le plus possible d'une taille à l'échelle 1:7, ils sont de couleurs jaune et rouge.
 
 \end{document}
\ No newline at end of file
diff --git a/Annee_2023_2024/Documentation/Pre Projet/resume.toc b/Annee_2023_2024/Documentation/Pre Projet/resume.toc
index 614d9bc6b7c3eb5d6b3abeddf7b7fcd0794417de..74a4f91cc38996b33e6b5f22e436348b6244cba5 100644
--- a/Annee_2023_2024/Documentation/Pre Projet/resume.toc	
+++ b/Annee_2023_2024/Documentation/Pre Projet/resume.toc	
@@ -1,4 +1,10 @@
 \babel@toc {french}{}\relax 
 \contentsline {section}{\numberline {1}Introduction}{1}{section.1}%
-\contentsline {section}{\numberline {2}Voiture}{1}{section.2}%
-\contentsline {section}{\numberline {3}Plot}{1}{section.3}%
+\contentsline {section}{\numberline {2}Objectif projet}{1}{section.2}%
+\contentsline {section}{\numberline {3}Documentation}{2}{section.3}%
+\contentsline {subsection}{\numberline {3.1}Carnet d'adresse }{2}{subsection.3.1}%
+\contentsline {subsection}{\numberline {3.2}Livrables écrit}{2}{subsection.3.2}%
+\contentsline {section}{\numberline {4}Voiture}{2}{section.4}%
+\contentsline {section}{\numberline {5}Micro contrôleur, shield GPIO et caméra }{3}{section.5}%
+\contentsline {subsection}{\numberline {5.1}Jetson NANO}{3}{subsection.5.1}%
+\contentsline {section}{\numberline {6}Plot}{3}{section.6}%
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