Multi-agent display

• Project/Area Number: 16K14283
• Research Category: Grant-in-Aid for Challenging Exploratory Research
• Allocation Type: Multi-year Fund
• Research Field: Control engineering/System engineering
• Research Institution: Nagoya University (2017-2018); Kyoto University (2016)
• Principal Investigator: Azuma Shun-ichi 名古屋大学, 工学研究科, 教授 (40420400)
• Project Period (FY): 2016-04-01 – 2019-03-31
• Project Status: Completed (Fiscal Year 2018)
• Budget Amount: ¥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)
• 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

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.

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．

Research Products

• [Int'l Joint Research] Paderborn University(ドイツ)
• [Journal Article] Cactus-expandable Graphs (2018)
  • Author(s): S. Azuma, T.Kure, T. Yoshida, and T. Sugie
  • Journal Title: IEEE Transactions on Control of Network Systems Volume: - Issue: 2 Pages: 775-788
  • DOI: 10.1109/tcns.2018.2875355
  • Peer Reviewed / Open Access
• [Presentation] Delta-sigma Conversion for Graph Signals (2017)
  • Author(s): N. Imoda, S. Azuma, and T. Sugie
  • Organizer: IFAC 2017 World Congress
  • Place of Presentation: 仏国ツールーズ
  • Year and Date: 2017-07-09
• [Presentation] A Sufficient Condition for Cactus-Expandability of Graphs (2017)
  • Author(s): S. Azuma, T. Kure, and T. Sugie
  • Organizer: 56th IEEE Conference on Decision and Control
  • Int'l Joint Research
• [Presentation] Delta-sigma Conversion for Graph Signals (2017)
  • Author(s): N. Imoda, S. Azuma, and T. Sugie
  • Organizer: 20th IFAC World Congress
  • Int'l Joint Research
• [Presentation] マルチドローンシステムによるカメラ視界被覆 (2017)
  • Author(s): 堀勇貴，東俊一，杉江俊治
  • Organizer: 第61回システム制御情報学会研究発表講演会