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Multi-robot network system for rescue operation

Research Project

Project/Area Number 16500117
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Perception information processing/Intelligent robotics
Research InstitutionOsaka City University

Principal Investigator

SUGIYAMA Hisayoshi  Osaka City University, Graduate School of Engineering, Associate Professor, 大学院・工学研究科, 助教授 (20264799)

Co-Investigator(Kenkyū-buntansha) TSUJIOKA Tetsuo  Osaka City University, Graduate School of Engineering, Lecturer, 大学院・工学研究科, 講師 (40326252)
MURATA Masashi  Ryukoku University, Faculty of Science and Technology, Professor, 理工学部電子情報学科, 教授 (70029239)
Project Period (FY) 2004 – 2005
Project Status Completed (Fiscal Year 2005)
Budget Amount *help
¥3,000,000 (Direct Cost: ¥3,000,000)
Fiscal Year 2005: ¥200,000 (Direct Cost: ¥200,000)
Fiscal Year 2004: ¥2,800,000 (Direct Cost: ¥2,800,000)
KeywordsRescue operation / Autonomous mobile robot / Ad hoc network / Multi agent / USAR / Multi-robot / QoS / 自律的パス修復
Research Abstract

The following three points are obtained. Where, victim detection system means a system for rescue operation which the head investigator proposed. The system consists of multi-robots and a monitor station. For the purpose to maintain the network, each robot does the autonomous pass recovery in this system.
(1)The investigation of the reconnaissance into distant space.
The reconnaissance into distant space is proposed and the performance is confirmed. The proposed scheme consists of the sequential movement of robots to the destination in the space, and the random walking of them after the arrival at the destination. It is confirmed by computer simulations that in spite of breakages of communication path, the breakages are recovered and the reconnaissance is done successfully.
(2)The investigation of wide area exploration.
The wide area exploration is proposed and the performance is confirmed. The proposed scheme consists of the classification of robots into search robot (SR) and relay robot (RR) by themselves, and the movement of RR to maintain the communication path between MS and the master SR which the RR selects among SRs. The system performance is confirmed by the computer simulations.
(3)The investigation of real time streaming of dynamic picture image
The synchronized QoS routing is already proposed for real time streaming of dynamic picture images in ad hoc network. However, because of void VCs decrease the rate of successful communication when network topology changes frequently, the conventional scheme is not applicable to the rescue operation. To resolve this problem, the modification of frame structure is proposed in the synchronized QoS routing. The system performance is confirmed by computer simulations.

Report

(3 results)
  • 2005 Annual Research Report   Final Research Report Summary
  • 2004 Annual Research Report
  • Research Products

    (19 results)

All 2006 2005

All Journal Article (18 results) Book (1 results)

  • [Journal Article] QoS Routing in a Multi-Robot Network System for Urban Search and Rescue2006

    • Author(s)
      H.Sugiyama, T.Tsujioka, M.Murata
    • Journal Title

      2nd IEEE International Workshop on Heterogeneous Wireless Sensor Networks(HWISE 2006) (国際会議論文集)

      Pages: 323-327

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Improvement of Transmission Properties of Synchronized QoS Ad Hoc Network by Rapid Control Method2006

    • Author(s)
      H.Sugiyama, T.Tsujioka, M.Murata
    • Journal Title

      Electronics and Communications in Japan : Part1 (未定)(採録決定)

    • NAID

      110003203115

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Annual Research Report 2005 Final Research Report Summary
  • [Journal Article] QoS Routing in a Multi-Robot Network System for Urban Search and Rescue2006

    • Author(s)
      H.Sugiyama, T.Tsujioka, M.Murata
    • Journal Title

      2nd IEEE International Workshop on Heterogeneous Wireless Sensor Networks (HWISE 2006)

      Pages: 323-327

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Improvement of Transmission Properties of Synchronized QoS Ad Hoc Network by Rapid Control Method2006

    • Author(s)
      H.Sugiyama, T.Tsujioka, M.Murata
    • Journal Title

      Electronics and Communications in Japan : Part1 Vol.89, No.9

      Pages: 51-59

    • NAID

      110003203115

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] QoS Routing in a Multi-Robot Network System for Urban Search and Rescue2006

    • Author(s)
      H.Sugiyama, T.Tsujioka, M.Murata
    • Journal Title

      2nd IEEE International Workshop on Heterogeneous Wireless Sensor Networks (HWISE 2006) (国際会議論文集)(採録決定)

    • Related Report
      2005 Annual Research Report
  • [Journal Article] アドホックネットワークと自律的パス修復を用いた被災者発見システムによる広域探索2005

    • Author(s)
      杉山久佳, 辻岡哲夫, 村田 正
    • Journal Title

      計測自動制御学会論文集 Vol.41, No.2

      Pages: 183-185

    • NAID

      10014415971

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] 高速制御法による同期QoSアドホックネットワークの特性改善2005

    • Author(s)
      杉山久佳, 辻岡哲夫, 村田 正
    • Journal Title

      電子情報通信学会論文誌 Vol.J88-B, No.6

      Pages: 1038-1046

    • NAID

      110003203115

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] ネットワーク化された群ロボットによる被災者発見システム2005

    • Author(s)
      杉山久佳, 辻岡哲夫, 村田 正
    • Journal Title

      情報処理学会論文誌 Vol.46, No.7

      Pages: 1777-1788

    • NAID

      110002768681

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Collaborative Movement of Rescue Robots for Reliable and Effective Networking in Disaster Area2005

    • Author(s)
      H.Sugiyama, T.Tsujioka, M.Murata
    • Journal Title

      The First International Conference on Collaborative Computing(CollaborateCom 2005) (国際会議論文集)(CDROM収録)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Wide Area Search by Victim Detection System Based on Ad Hoc Network and Autonomous Path Recovery2005

    • Author(s)
      H.Sugiyama, T.Tsujioka, M.Murata
    • Journal Title

      Transactions of the Society of Instrument and Control Engineers Vol.41, No.2

      Pages: 183-185

    • NAID

      10014415971

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Improvement of Transmission Properties of Synchronized QoS Ad Hoc Network by Rapid Control Method2005

    • Author(s)
      H.Sugiyama, T.Tsujioka, M.Murata
    • Journal Title

      Transactions of the Institute of Electronics, Information and Communication Engineers Vol.J88-B, No.6

      Pages: 1038-1046

    • NAID

      110003203115

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Victim Detection System Consists of Networked Mobile Robots2005

    • Author(s)
      H.Sugiyama, T.Tsujioka, M.Murata
    • Journal Title

      Journal of Information Processing Society of Japan Vol.46, No.7

      Pages: 1777-1788

    • NAID

      110002768681

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Collaborative Movement of Rescue Robots for Reliable and Effective Networking in Disaster Area2005

    • Author(s)
      H.Sugiyama, T.Tsujioka, M.Murata
    • Journal Title

      The First International Conference on Collaborative Computing (CollaborateCom 2005) (CDROM)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] 高速制御法による同期QoSアドホックネットワークの特性改善2005

    • Author(s)
      杉山久佳, 辻岡哲夫, 村田正
    • Journal Title

      電子情報通信学会論文誌 Vol.J88-B, No.6

      Pages: 1038-1046

    • NAID

      110003203115

    • Related Report
      2005 Annual Research Report
  • [Journal Article] ネットワーク化された群ロボットによる被災者発見システム2005

    • Author(s)
      杉山久佳, 辻岡哲夫, 村田正
    • Journal Title

      情報処理学会論文誌 Vol.46, No.7

      Pages: 1777-1788

    • NAID

      110002768681

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Collaborative Movement of Rescue Robots for Reliable and Effective Networking in Disaster Area2005

    • Author(s)
      H.Sugiyama, T.Tsujioka, M.Murata
    • Journal Title

      The First International Conference on Collaborative Computing (CollaborateCom 2005) (国際会議論文集)(CDROM収録)

    • Related Report
      2005 Annual Research Report
  • [Journal Article] アドホックネットワークと自律的パス修復を用いた被災者発見システムによる広域探索2005

    • Author(s)
      杉山久佳, 辻岡哲夫, 村田 正
    • Journal Title

      計測自動制御学会論文集 Vol.41 No.2

      Pages: 183-185

    • NAID

      10014415971

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 高速制御法による同期QoSアドホックネットワークの特性改善2005

    • Author(s)
      杉山久佳, 辻岡哲夫, 村田 正
    • Journal Title

      電子情報通信学会論文誌(B) (採録決定)(未定)

    • NAID

      110003203115

    • Related Report
      2004 Annual Research Report
  • [Book] ディジタル信号処理-解析と設計の基礎-2005

    • Author(s)
      杉山久佳
    • Total Pages
      170
    • Publisher
      森北出版
    • Related Report
      2004 Annual Research Report

URL: 

Published: 2004-04-01   Modified: 2016-04-21  

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