Distributed Algorithms for Autonomous Intelligent Robots
| Project/Area Number |
08680407
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent informatics
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| Research Institution | UNIVERSITY OF THE RYUKYUS |
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Principal Investigator |
ONAGA Kenji UNIV.OF THE RYUKYUS,FAC.OF ENG.PROFESSOR, 工学部, 教授 (90029869)
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| Co-Investigator(Kenkyū-buntansha) |
NAKAMURA Morikazu UNIV.OF THE RYUKYUS,FAC.OF ENG.ASSOCIATE PROF., 工学部, 助教授 (80237437)
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| Project Period (FY) |
1996 – 1997
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| Project Status |
Completed (Fiscal Year 1997)
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| Budget Amount *help |
¥2,400,000 (Direct Cost: ¥2,400,000)
Fiscal Year 1997: ¥800,000 (Direct Cost: ¥800,000)
Fiscal Year 1996: ¥1,600,000 (Direct Cost: ¥1,600,000)
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| Keywords | DISTRIBUTED ALGORITHM / STABLE MARRIAGE PROBLEM / DISTRIBUTED STABLE MARRIAGE PROBLEM / AUTONOMOUS MOBILE ROBOT / DIVORCE PROCESS / GROUP COOPERATION |
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| Research Abstract |
In this research, we consider distributed algorithms for autonomous intelligent robot, cooperative works of autonomous mobile robots and battery charger stations, and autonomous mechanism for partner exchanging.
We apply the distributed stable marriage problem to matching between autonomous mobile robots and battery charger stations. We define there exists the same number of autonomous robots as the battery charger stations and each autonomous robot has two states, active and hungry. Each autonomous robot wants to use the charger station at which the robot can be charged as soon as possible and each station serves to robots according to the first-come first-served way. In this situation, if each robot runs toward the nearest station, some robots are forestalled and then run toward another station again. It is not useful way. If each robot can know the nearest station that the robot is able to arrive first, previous situation does not happen. Applying the distributed stable marriage problem makes possible above condition.
In the previous work, we defined the distributed stable marriage problem and showed the protocol based on the Gale-Shapley basic algorithm. But there exists a member who is not satisfied with current partner in almost stable matching, particularly man/woman optimal matching that is gotten by the Gale-Shapley based protocol. We introduce autonomous mechanism for partner exchanging, called divorce process. Usig this mechanism, a member who is not satisfied with the current partner can get a preferable partner. we propose two types of divorce processes. Divorce processes are initiated by satisfaction level in current partner or group. We simulate two types of divorce processes on distributed environments.
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Report
(3 results)
Research Products
(18 results)
