Control Design of Multi-Robot Sytems Considering Conectivity and Flexibility of Network Topology

Research Project

Project/Area Number	15K06137
Research Category	Grant-in-Aid for Scientific Research (C)
Allocation Type	Multi-year Fund
Section	一般
Research Field	Control engineering/System engineering
Research Institution	Kyoto University
Principal Investigator	Fukushima Hiroaki 京都大学, 工学研究科, 講師 (40377015)
Project Period (FY)	2015-04-01 – 2018-03-31
Project Status	Completed (Fiscal Year 2017)
Budget Amount *help	¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000) Fiscal Year 2017: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000) Fiscal Year 2016: ¥2,990,000 (Direct Cost: ¥2,300,000、Indirect Cost: ¥690,000) Fiscal Year 2015: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Keywords	ロボット群の制御 / 制御工学
Outline of Final Research Achievements	The contributions made in this project are summerized as follows. (i)We proposed a navigation method for a group of robots to follow a given target path while preserving the connectivity of the sensing network without data transmission through wireless communication. (ii)We also proposed a cooperative object transporation method for a group of robots while preserving the connectivity of the sensing network and reshaping the formation for effective transpotation, without data transmission through wireless communication. (iii) Experimental validation of the effectiveness of the proposed methods.

Report

(4 results)