| Project/Area Number |
16K14283
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| Research Category |
Grant-in-Aid for Challenging Exploratory Research
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| Allocation Type | Multi-year Fund |
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| Research Field |
Control engineering/System engineering
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| Research Institution | Nagoya University (2017-2018)
Kyoto University (2016) |
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Principal Investigator |
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| Project Period (FY) |
2016-04-01 – 2019-03-31
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| Project Status |
Completed (Fiscal Year 2018)
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| Budget Amount *help |
¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
Fiscal Year 2018: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2017: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2016: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
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| Keywords | 制御工学 / マルチエージェントシステム / グラフ信号処理 / 制御 |
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| Outline of Final Research Achievements |
In this project, we have addressed a distributed control method to display a given image as a formation of a number of agents (mobile robots), which is called the multi-agent display. As key techniques for the multi-agent display, we have established (a) delta-sigma conversion of graph signals and (b) vision coverage control of multi-agent systems.
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| Academic Significance and Societal Importance of the Research Achievements |
制御工学においては，2000年以降，マルチエージェントシステムのフォーメーション形成の研究が世界的なブームとなっている．一方，目標とするフォーメーションとして考えられてきたのは，円形やＶ字など単純な幾何学パターンに限られていた．本研究では，そのような幾何学パターンを超えるフォーメーション形成のための基盤技術が確立された．
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