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Distributed Algorithms for Autonomous Cooperative Robots

Research Project

Project/Area Number 06680362
Research Category

Grant-in-Aid for General Scientific Research (C)

Allocation TypeSingle-year Grants
Research Field Intelligent informatics
Research InstitutionUNIVERSITY OF THE RYUKYUS

Principal Investigator

ONAGA Kenji  UNIV.OF THE RYUKYUS,FAC.OF ENG., PROFESSOR, 工学部, 教授 (90029869)

Co-Investigator(Kenkyū-buntansha) NAKAMURA Morikazu  UNIV.OF THE RYUKYUS,FAC.OF ENG., ASSOCIATE PROF., 工学部, 助教授 (80237437)
SHINJO Yasushi  UNIV.OF THE RYUKYUS,FAC.OF ENG., ASSISTANT PROF., 工学部, 助手 (00253948)
KYAN Seiki  UNIV.OF THE RYUKYUS,FAC.OF ENG., PROFESSOR, 工学部, 教授 (90044990)
Project Period (FY) 1994 – 1995
Project Status Completed (Fiscal Year 1995)
Budget Amount *help
¥2,000,000 (Direct Cost: ¥2,000,000)
Fiscal Year 1995: ¥600,000 (Direct Cost: ¥600,000)
Fiscal Year 1994: ¥1,400,000 (Direct Cost: ¥1,400,000)
KeywordsDISTRIBUTED ALGORITHM / MUTUAL EXCLUSION / MUTUAL EXCLUSION PROTOCOL / MULTIPLE RESOURCES / STABLE MARRIAGE PROBLEM / DISTRIBUTED STABLE MARRIAGE PROBLEM / DIVORCE PROCESS / AUTONOMOUS ROBOT / ペトリネット / 発火並列度 / 男女平等解
Research Abstract

In this research, we consider two distributed problems, mutual exclusion problems and distributed stable marriage problems.
We develop a mutual exclusion protocol for distributed environments. The proposed method is applicable to the case single-kind and multiple-quantity shared resources and the case multiple-kinds and the single-quantity resources. We obtain the condition that the mutual exclusion protocol functions correctly by analyzing theoretically the characteristic of the protocol. Then, a method to design an initial acyclic graph in which the acyclic graph holds the condition.
We define a gender-fair stable marriage problem and investigate its mathematical aspects of the problem. As a result, we show that we can convert the stable marriage problem into a graph theoretical problem (called the closed subset sum problem for directed graphs). Moreover, we prove that the closed subset sum problem in NP-hard and develop a method to obtain effectively gender-fair stable marriage by using genetic algorithms.
We define a distributed stable marriage problem and show a protocol based on the Gale-Shapley basic algorithm. Then we introduce a new notion, divorce process, to change partners. Even if once he or she gets a partner, he or she may find a better partner by initiating a divorce process. However, a divorce process is not always completed successfully. Thus, we show as a theorem the condition for successfull completing of a divorce process. Moreover, we have described a matching problem between autonomous robots and battery charger stations as an application of the distributed stable marriage problem.

Report

(3 results)
  • 1995 Annual Research Report   Final Research Report Summary
  • 1994 Annual Research Report
  • Research Products

    (21 results)

All Other

All Publications (21 results)

  • [Publications] M.Nakamura: "Sex-equal matching in stable marriage problems" Proceedings of Joint Technical Conference on Circuits/Systems,Computers and Communications. 555-560 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] 名嘉村盛和: "複数種類ネットワーク資源の自律分散相互排除プロトコルとそのマークグラフ解析" 電気学会論文誌. 114-C. 898-906 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] M.Nakamura: "Concurrency and periodicity analysis of acyclic-graph evolution driven by node firing" IEICE Trans.on Foundamentals. E78-A. 898-906 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] M.Nakamura: "A genetic algorithm for sex-fair stable marriage problems" Proceedings of IEEE International Symposium on Circuits and Systems. 509-512 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] M.Nakamura: "Sex-fair stable marriage problem and its GA solution" IEICE Trans.on Foundamentals. E78-A. 664-670 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] M.Nakamura: "Design of initial acyclic graphs for k-MUTEX" Proceedings of Joint Technical Conference on Circuits/Systems,Computers and Communications. 774-777 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] M.Nakamura: "Sex-equal matching in stable marriage problems" Proceedings of Joint Technical Conference on Circuits/Systems, Computers and Communications. 555-560 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] M.Nakamura: "An autonomous distributed mutual exclusion protocol for multiple network resources and its marked graph analysis" Trans.IEE of Japan. vol.114-C,no.9. 898-906 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] M.Nakamura: "Concurrency and periodicity analysis of acyclic-graph evolution driven by node firing" IEICE Trans.on Fundamentals. vol.E78-A,no.3. 371-381 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] M.Nakamura: "genetic algorithm for sex-fair stable marriage problems" Proceedings of IEEE International symposium on Circuits and Systems. 509-512 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] M.Nakamura: "Sex-fair stable marriage problem and its GA solution" IEICE Trans.on Fundamentals. vol.E78-A,no.6. 664-670 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] M.Nakamura: "Design of initial acyclic graphs for k-MUTEX" Proceedings of Joint Technical Conference on Circuits/Systems, Computers and Communications. 774-777 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] 名嘉村盛和,翁長健治,喜屋武盛基: "Sex-fair stable marriage problem and its GA solution" 電子情報通信学会英論文誌. E78-A. 664-670 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] 名嘉村盛和,砂川恵輝,翁長健治,喜屋武盛基: "Design of initial acyclic graphs for k-MUTEX" Proceedings of Joint Technical Conference on Circuits/Systems,Computers and Communications. 774-777 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] 砂川恵輝,名嘉村盛和,翁長健治,喜屋武盛基: "アサイクリック・グラフ系列の発火並列度の解析と初期グラフの構成法" 電気関係学会九州支部連合大会論文集. 1161 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] 金城秀樹,名嘉村盛和,翁長健治,喜屋武盛基: "分散安定結婚問題におけるGale-Shapley基本プロトコルと離婚プロセス" 電気関係学会九州支部連合大会論文集. 1166 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] 名嘉村盛和: "複数種類ネットワーク資源の自律分散相互排除プロトコルとそのマークグラフ解析" 電気学会論文誌. Vol.114-C. 898-906 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] 名嘉村盛和: "Corcurrency and Penodicity Analysis of Acyclic-Graph Evolution driven by Node Firing" IEICE Transaction. Vol.E78-A. (1995)

    • Related Report
      1994 Annual Research Report
  • [Publications] 名嘉村盛和: "Sex-Fair Stable Marriage Problem and Its GA Solution" IEICE Transaction. Vol.E78-A. (1995)

    • Related Report
      1994 Annual Research Report
  • [Publications] 名嘉村盛和: "Sex-Equal Matdring in Stable Marriage Problems" Proc.of 1994 Joint Technical Conference on Circuits/Systems,computers and communications. 555-560 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] 名嘉村盛和: "分散安定結婚問題を解くGale-Shapley基本解に基づくアルゴリズム" 信学会全国大会(春期)講演論文集. A12- (1995)

    • Related Report
      1994 Annual Research Report

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Published: 1994-04-01   Modified: 2016-04-21  

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