Constructive Approach to the Understanding of Social Behavior of Insects with pheromone

• Project/Area Number: 17075005
• Research Category: Grant-in-Aid for Scientific Research on Priority Areas
• Allocation Type: Single-year Grants
• Review Section: Science and Engineering
• Research Institution: The University of Tokyo
• Principal Investigator: OTA Jun The University of Tokyo, 人工物工学研究センター, 教授 (50233127)
• Co-Investigator(Kenkyū-buntansha): ASAMA Hajime 東京大学, 大学院・工学系研究科, 教授 (50184156) ; KAWABATA Kuniaki 独立行政法人理化学研究所, 分子情報生命科学特別研究ユニット, 専任研究員 (90301754)
• Co-Investigator(Renkei-kenkyūsha): CHIBA Ryosuke (80396936)
• Project Period (FY): 2005 – 2009
• Project Status: Completed (Fiscal Year 2009)
• Budget Amount: ¥115,300,000 (Direct Cost: ¥115,300,000); Fiscal Year 2009: ¥18,000,000 (Direct Cost: ¥18,000,000); Fiscal Year 2008: ¥20,300,000 (Direct Cost: ¥20,300,000); Fiscal Year 2007: ¥25,900,000 (Direct Cost: ¥25,900,000); Fiscal Year 2006: ¥25,900,000 (Direct Cost: ¥25,900,000); Fiscal Year 2005: ¥25,200,000 (Direct Cost: ¥25,200,000)
• Keywords: 移動知 / コオロギ / 群行動 / 自己組織化 / 数理モデル / 微分方程式 / 神経行動学 / ロボット / 一酸化窒素 / 神経回路モデル / 行動モデル / 振るまいモデル / ニューロモジュレータ / NO / マルチエージェント / シミュレーション / 闘争行動 / 神経回路網

Research Abstract

Individual interaction among crickets was simulated by constructing an artificial cricket model. Using simulations of artificial cricket models with multi-layers, we investigated the principle mechanism underlying social interaction. Cricket models are created with various layers. Simulation results indicate the effectiveness of the proposed models. Future studies will deal with thorough collaboration with biological studies.

Research Products

• [Journal Article] Model of a Sensory-Behavioral Relation Mechanism for Aggressive Behaviors of Crickets (2011)
  • Author(s): Tatsuya Mizuno, Midori Sakura, Masatoshi Ashikaga, Hitoshi Aonuma, Ryosuke Chiba, Jun Ota
  • Journal Title: Robotics and Autonomous Systems Volume: (to apprear)
  • Peer Reviewed
• [Journal Article] Adaptive Division-of-Labor Control Algorithm for Multi-Robot Systems (2010)
  • Author(s): Y.Ikemoto, T.Miura, H.Asama
  • Journal Title: Journal of Robotics and Mechatronics Vol.22, No.4 Pages: 514-525
• [Journal Article] Adaptive Division-of-Labor Control Algorithm for Multi-Robot Systems (2010)
  • Author(s): Y.Ikemoto, T.Miura, H.Asama
  • Journal Title: Journal of Robotics and Mechatronics Volume: 22,4 Pages: 514-525
  • Peer Reviewed
• [Journal Article] Role of Pre-Operation in Experiencing Differently Sized Hands (2010)
  • Author(s): Kenji Terabayashi, Natsuki Miyata, Kazunori Umeda, Jun Ota
  • Journal Title: Journal of Advanced Computational Intelligence and Intelligent Informatics Volume: 14,7 Pages: 793-801
  • Peer Reviewed
• [Journal Article] Establishment of Social Status without Individual Discrimination in the Cricket (2009)
  • Author(s): Masatoshi Ashikaga, Midori Sakura, Mika Kikuchi, Tetsutaro Hiraguchi, Ryosuke Chiba, Hitoshi Aonuma, Jun Ota
  • Journal Title: Advanced Robotics 23,5
  • NAID: 10027462911
• [Journal Article] Grasp Strategy when Experiencing Hands of Various Sizes (2008)
  • Author(s): Kenji Terabayashi, Natsuki Miyata, Jun Ota
  • Journal Title: International Journal on Human-Computer Interaction I-4 Pages: 55-74
  • Peer Reviewed
• [Journal Article] 上肢作業姿勢生成のための評価関数推定-コネクタ差し込み姿勢の評価関数- (2008)
  • Author(s): 金指央樹, 宮田なつき, 新井民夫, 千葉龍介, 太田順
  • Journal Title: 精密工学会誌 74,12
  • NAID: 110007007592
  • Peer Reviewed
• [Journal Article] Rearrangement Task by Multiple Mobile Robots with Efficient Calculation of Task (2008)
  • Author(s): Norisuke Fujii, Jun Ota
  • Journal Title: Advanced Robotics 22,2-3
  • Peer Reviewed
• [Journal Article] Foraging Task of Multiple Mobile Robots in a Dynamic Environment Using Adaptive Behavior in Crickets (2007)
  • Author(s): Masatoshi Ashikaga, Mika Kikuchi, Tetsutaro Hiraguchi, Midori Sakura, Hitoshi Aonuma, Jun Ota
  • Journal Title: Journal of Robotics and Mechatronics 19,4
• [Journal Article] A Neuromodulation Model for Adaptive Behavior Selection by the Cricket-Nitric Oxide (NO)/Cyclic Guanosine MonoPhosphate (cGMP) Cascade Model- (2007)
  • Author(s): K.Kawabata, T.Fujiki, Y.Ikemoto, H.Aonuma, H.Asama
  • Journal Title: Journal of Robotics and Mechatronics Vol.19, No.4 Pages: 388-394
• [Journal Article] Mathematical Model of Proportion Control and Fluctuation Characteristic in Termote Caste Differentiation (2007)
  • Author(s): Y.Ikemoto, K.Kawabata, T.Miura, H.Asama
  • Journal Title: Journal of Robotics and Mechatronics Vol.19, No.4 Pages: 429-435
• [Journal Article] A Neuromodulation Model for Adaptive Behavior Selection by the Cricket-Nitric Oxide(NO)/Cyclic Guanoise MonoPhosphate(cGMP)Cascade Model- (2007)
  • Author(s): K. Kawabata, et. al.
  • Journal Title: Journal of Robotics and Mechatronics 19 Pages: 388-394
  • Peer Reviewed
• [Journal Article] Mathematical Model of Proportion Control and Fluctuation Characteristic in Termite Caste (2007)
  • Author(s): Y. Ikemoto, et. al.
  • Journal Title: Journal of Robotics and Mechatronics 19 Pages: 429-435
  • Peer Reviewed
• [Journal Article] Foraging Task of Multiple Mobile Robots in a Dynamic Environment Using Adaptive Behavior in Crickets (2007)
  • Author(s): M. Ashikaga, et. al.
  • Journal Title: Journal of Robotics and Mechatronics 19 Pages: 466-473
  • Peer Reviewed
• [Journal Article] A Computational Model of the Adaptive Action Selection in Cricket Fighting Behavior by N0/cGMP Cascade (2006)
  • Author(s): T.Fujiki, K.Kawabata, H.Aonuma, H.Asama
  • Journal Title: The 2nd International Workshop by Research Group of Invertebrate Nervous System of Japan
• [Journal Article] Adaptive Action Selection of Body Expansion Behavior in Multi-Robot System using Communication (2006)
  • Author(s): Tomohisa Fujiki, Kuniaki Kawabata, Hajime Asama
  • Journal Title: Journal of Advanced Computational Intelligence and Intelligent Informatics 11,2
• [Journal Article] Acquisition of Intermediate Goals for an Agent Executing Multiple Tasks (2006)
  • Author(s): Yusuke Fukazawa, Chomchana Trevai, Jun Ota, Tamio Arai
  • Journal Title: IEEE Transactions on Robotics 22,5 Pages: 1034-1040
• [Journal Article] Modeling of Adaptive Behaviors of Crickets (2006)
  • Author(s): Ashikaga, M., Hiraguchi, T., Sakura, M., Aonuma, H., Ota, J.
  • Journal Title: 5th Forum of European Neuroscience Abstract Book (FENS Forum Abstracts) 3
  • NAID: 10022566359
• [Journal Article] Modeling of fighting behaviors in crickets (2006)
  • Author(s): M.Ashikaga, M.Kikuchi, T.Hiraguchi, M.Sakura, H.Aonuma, J.Ota
  • Journal Title: The 2nd International Workshop by Research Group of Invertebrate Nervous System of Japan Pages: 7-7
• [Journal Article] Handling-over between Human and Self-Moving Tray (2006)
  • Author(s): Yusuke Tamura, Masao Sugi, Jun Ota, Tamio Arai
  • Journal Title: Proc. XVIII IMEKO World Congress Metrology for a Sustainable Development
• [Journal Article] Self-organizing Planner for Multiple Mobile Robot Exploration and Patrol (2006)
  • Author(s): Chomchana Trevai, Jun Ota, Tamio Arai
  • Journal Title: Intelligent Autonomous Systems 9 Pages: 622-631
• [Journal Article] Adaptive Action Selection of Body Expansion Behavior in Multi-Robot System using Communication (2006)
  • Author(s): T.Fujiki, K.Kawabata, H.Asama
  • Journal Title: Intelligent Autonomous Systems 9 Pages: 632-639
• [Journal Article] 人間の手先運動に基づくリーチング検出と把持対象物体の予測 (2006)
  • Author(s): 田村 雄介, 杉 正夫, 太田 順, 新井 民夫
  • Journal Title: 第18回自律分散システム・シンポジウム資料 Pages: 149-152
  • NAID: 10022566275
• [Journal Article] 適応的行動と協調の発現原理 (2005)
  • Author(s): 太田 順
  • Journal Title: 計測と制御 44・9 Pages: 628-633
• [Journal Article] 環境の複雑さを考慮した移動ロボット間通信を含んだ行動獲得 (2005)
  • Author(s): 藤木智久, 川端邦明, 淺間 一
  • Journal Title: 計測自動制御学会第6回システムインテグレーション部門学術講演会2005(SI2005)講演論文集 Pages: 627-628
• [Journal Article] マルチロボットシステムによる複数可動物体搬送作業 (2005)
  • Author(s): 藤井 紀輔, 太田 順, Trevai Chomchana
  • Journal Title: 計測自動制御学会第6回システムインテグレーション部門学術講演会2005(SI2005)講演論文集 Pages: 623-624
• [Journal Article] Model of a Sensory-Behavioral Relation Mechanism for Aggressive Behaviors of Crickets
  • Author(s): Tatsuya Mizuno, Midori Sakura, Masatoshi Ashikaga, Hitoshi Aonuma, Ryosuke Chiba, Jun Ota
  • Journal Title: Robotics and Autonomous Systems to appear.
• [Presentation] セロトニン仮説に基づく行動修飾機構を持つ競争的エージェントの社会相互作用 (2011)
  • Author(s): 矢野史朗, 渡邊崇之, 佐倉緑, 青沼仁志, 淺間一
  • Organizer: 第23回自律分散システムシンポジウム,pp.189-192
• [Presentation] Neural Network Estimation of LAL/VPC Resions of Silkmoth using Genetic Algorithn (2010)
  • Author(s): Ryosuke Chiba, Sunao Hashimoto, Tomoki Kazawa, Ryohei Kanzaki, Jun Ota
  • Organizer: Proc.2010 IEEE/RSJ Int.Conf.Intelligent Robots and Systems (IROS 2010)
  • Place of Presentation: 台湾,台北
  • Year and Date: 2010-10-20
• [Presentation] クロコオロギの行動選択機構のモデリングに関する研究～触角からの感覚入力感受性による群行動の変容についての考察～ (2010)
  • Author(s): 藤井喬, 川端邦明, 青沼仁志, 佐倉緑, 鈴木剛, 太田順, 淺間一
  • Organizer: 第22回自律分散システムシンポジウム資料,213/218
• [Presentation] Neural Network Estimation of LAL/VPC Resions of Silkmoth using Genetic Algorithm (2010)
  • Author(s): Ryosuke Chiba, Sunao Hashimoto, Tomoki Kazawa, Ryohei Kanzaki, Jun Ota
  • Organizer: Proc.2010 IEEE/RSJ Int.Conf.Intelligent Robots and Systems (IROS 2010)
• [Presentation] セロトニン仮説の数学的表現と分岐解析 (2010)
  • Author(s): 矢野史朗, 渡邊崇之, 佐倉緑, 青沼仁志, 淺間一
  • Organizer: システム・情報部門学術講演会2010(SSI2010),計測自動制御学会 pp.2G2-2(1)-(3)
  • Place of Presentation: 京都
• [Presentation] Extraction of Behavior Primitives in Human Standing-Up Motion for Development of Power Assisting Machine (2009)
  • Author(s): Q.An, Y.Ikemoto, H.Asama, H.Matsuoka, D.Chugo, K.Takakusaki
  • Organizer: 2008 IEEE International Conference on Robotics and Biomimetics (ROBIO
  • Place of Presentation: Bankok, Thailand
  • Year and Date: 2009-02-23
• [Presentation] クロコオロギの行動選択機構のモデリングに関する研究 -喧嘩行動実験による神経機構モデルの考察- (2009)
  • Author(s): 藤井喬, 川端邦明, 青沼仁志, 鈴木剛, 足利昌俊, 太田順, 淺間一
  • Organizer: 第14回ロボティクスシンポジア講演予稿集,35/41
• [Presentation] A Neuro-modulation Model of Behavior Selection in the Fighting Behavior of Male Crickets (2009)
  • Author(s): Kuniaki Kawabata, Takashi Fujii, Hitoshi Aonuma, Tsuyoshi Suzuki, Masatoshi Ashikaga, Jun Ota, Hajime Asama
  • Organizer: Proc. 3rd International Symposium on Mobiligence, 271-275
• [Presentation] Modeling of the Effects of Multi-modal Inputs on the Aggressive Behavior using Handicapped Crickets (2009)
  • Author(s): Tatsuya Mizuno, Midori Sakura, Masatoshi Ashikaga, Hitoshi Aonuma, Ryosuke Chiba, Jun Ota
  • Organizer: Proc.3rd International Symposium on Mobiligence, 332-337
• [Presentation] Development of Neurotransmitter Modulation on Aggression and Dominance Hierarchy in Cricket, Gryllus Bimaculatus (2009)
  • Author(s): S.Yano, Y.Ikemoto, H.Aonuma, H.Asama
  • Organizer: ICROS-SICE International Joint Conference 2009 (ICCAS-SICE 2009), pp.2254-2259
  • Place of Presentation: Japan
• [Presentation] 空間構造を考慮したコオロギの闘争行動モデルと固体順位の空間的分布に関する考察 (2009)
  • Author(s): 矢野史朗, 池本有助, 青沼仁志, 長尾隆司, 淺間一
  • Organizer: 第22回自律分散システム・シンポジウム計測自動制御学会 pp.219-222
  • Place of Presentation: 名古屋
• [Presentation] ハンディキャップコオロギを用いたコオロギの攻撃行動発現機構のモデル化 (2009)
  • Author(s): 水野達也, 佐倉緑, 足利昌俊, 青沼仁志, 太田順
  • Organizer: 第21回自律分散システムシンポジウム資料,243/247
• [Presentation] Modeling of self-organized competition hierarchy with body weight development in larval cricket, Gryllus bimaculatus (2008)
  • Author(s): S.Yano, Y.Ikemoto, H.Aonuma, T.Nagao, H.Asama
  • Organizer: International Symposium on Distributed Autonomous Robotic Systems
  • Place of Presentation: Tsukuba, Japan
  • Year and Date: 2008-11-17
• [Presentation] Modeling of Self-organized Competition Hierarchy with Body Weight Development in Larval Cricket, Gryllus Bimaculatus (2008)
  • Author(s): S.Yano, Y.Ikemoto, H.Aonuma, T.Nagao, H.Asama
  • Organizer: Preprints of the 9th International Symposium on Distributed Autonomous Robotic Systems (DARS2008)
  • Place of Presentation: Tsukuba, Japan
  • Year and Date: 2008-11-01
• [Presentation] コオロギの適応的行動選択モデルに関する研究-触角感度調節機構のモデル化- (2008)
  • Author(s): 藤井喬, 川端邦明, 青沼仁志, 鈴木剛, 足利昌俊, 太田順, 淺間一
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会'08講演論文集,2P2-I18
  • Year and Date: 2008-01-03
• [Presentation] クロコオロギにおける他者識別能力の解析 (2008)
  • Author(s): 足利昌俊, 菊地美香, 平口鉄太郎, 佐倉緑, 千葉龍介, 青沼仁志, 太田順
  • Organizer: 第20回自律分散システムシンポジウム資料,325/330
• [Presentation] 昆虫の社会的経験にもとづく行動選択のモデル化 (2008)
  • Author(s): 青沼仁志, 佐倉緑, 足利昌俊, 藤木智久, 藤井喬, 川端邦明, 太田順, 淺間一
  • Organizer: 第18回インテリジェント・システム・シンポジウム,305-310
• [Presentation] コオロギの社会的経験による行動の発現と切り替え-行動のモデル化- (2008)
  • Author(s): 青沼仁志, 太田順
  • Organizer: 無脊椎動物神経生物学研究会
• [Presentation] ハンディキャップコオロギを用いたコオロギの内部メカニズムの解明 (2008)
  • Author(s): 水野達也, 佐倉緑, 足利昌俊, 青沼仁志, 太田順
  • Organizer: 無脊椎動物神経生物学研究会
• [Presentation] コオロギの適応的行動選択モデルに関する研究-触角感度調節機構のモデル化- (2008)
  • Author(s): 藤井喬, 川端邦明, 青沼仁志, 足利昌俊, 太田順, 鈴木剛, 淺間一
  • Organizer: ロボティクス・メカトロニクス講演会'08講演論文集,2P1-B19
• [Presentation] コオロギ群における社会的順位形成過程のモデル化 (2008)
  • Author(s): 足利昌俊, 佐倉緑, 菊地美香, 平口鉄太郎, 千葉龍介, 青沼仁志, 太田順
  • Organizer: 第21回自律分散システムシンポジウム
• [Presentation] ハンディキャップコオロギを用いたコオロギの攻撃行動発現機構のモデル化 (2008)
  • Author(s): 水野達也, 佐倉緑, 足利昌俊, 青沼仁志, 太田順
  • Organizer: 第21回自律分散システムシンポジウム
• [Presentation] 進化的計算を用いたカイコガLAL神経回路ネットワークの推定 (2008)
  • Author(s): 橋本素直, 千葉龍介, 加沢知毅, 神崎亮平, 太田順
  • Organizer: 第20回自律分散システムシンポジウム資料,349-352
• [Presentation] Modeling of Adaptive Mechanism in Crickets by Means of Constructive Approach, Workshops/Tutorials Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (2008)
  • Author(s): Jun Ota, Hitoshi Aonuma, Hajime Asama, Kuniaki Kawabata, Masatoshi Ashikaga
  • Organizer: Workshop : Mobiligence: Adaptive Motor Function through Dynamic Interactions among the Body, Brain and Environment, 54/59
• [Presentation] A Study on Neural Circuit Model of Insects for Adaptive Behavior Selection-Verification of Action Selection Model in Multi-individual Environments- (2007)
  • Author(s): K. Kawabata, et. al.
  • Organizer: The 2nd International Symposium on Mobiligence
  • Place of Presentation: Awaji
  • Year and Date: 2007-07-20
• [Presentation] Social experience dependent behavior selection in the cricket -from neuroethlogical approaches to modeling- (2007)
  • Author(s): Hitoshi Aonuma, Midori Sakura, Mika Kikuchi, Tetsutaro Hiraguchi, Masatoshi Ashikaga, Jun Ota, Kuniaki Kawabata, Tomohisa Fujiki, Yusuke Ikemoto, Hajime Asama
  • Organizer: Proc.2nd International Symposium on Mobiligence, 16-19
• [Presentation] A Study on Neural Circuit Model of Insects for Adaptive Behavior Selection -Verification of Action Selection Model in Multi-individual Environments - (2007)
  • Author(s): Kuniaki Kawabata, Tomohisa Fujiki, Masatoshi Ashikaga, Jun Ota, Hitoshi Aonuma, Hajime Asama
  • Organizer: Proc.2nd International Symposium on Mobiligence, 187-190
• [Presentation] Modeling of Socially Adaptive Behavior in Crickets (2007)
  • Author(s): Masatoshi Ashikaga, Mika Kikuchi, Tetsutaro Hiraguchi, Midori Sakura, Hitoshi Aonuma, Jun Ota
  • Organizer: Proc.2nd International Symposium on Mobiligence, 191-194
• [Presentation] コオロギ群における社会的行動選択のモデル化 (2007)
  • Author(s): 足利昌俊, 菊地美香, 平口鉄太郎, 佐倉緑, 青沼仁志, 太田順
  • Organizer: 第17回インテリジェント・システム・シンポジウム講演論文集,191/196
• [Presentation] クロコオロギの喧嘩行動の修飾に関わる脳内アミン (2007)
  • Author(s): 菊地美香, 足利昌俊, 太田順, 長尾隆司, 青沼仁志
  • Organizer: 日本動物学会第78回大会要旨集,99
• [Presentation] 遺伝的アルゴリズムによるカイコガ神経回路のモデル化 (2007)
  • Author(s): 橋本素直, 千葉龍介, 加沢知毅, 神崎亮平, 太田順
  • Organizer: 第13回創発システム・シンポジウム講演資料集,161/164
• [Presentation] コオロギの成長過程における環境条件と闘争性の関係のモデル (2007)
  • Author(s): 矢野史朗, 池本有助, 青沼仁志, 淺間一
  • Organizer: 第20回計測自動制御学会自律分散システムシンポジウム,諏訪,pp.331-336
• [Presentation] コオロギ集団における多様的振るまいのモデル化 (2006)
  • Author(s): 足利昌俊, 平口鉄太郎, 佐倉緑, 青沼仁志, 太田順
  • Organizer: 第18回自律分散システム・シンポジウム資料189/194
• [Presentation] コオロギ群の喧嘩行動を用いた移動ロボット群の採餌行動 (2006)
  • Author(s): 足利昌俊, 菊地美香, 平口鉄太郎, 佐倉緑, 青沼仁志, 太田順
  • Organizer: 第12回創発システム・シンポジウム講演資料集74/77
• [Presentation] オスコオロギの集団における行動発現のモデル化 (2006)
  • Author(s): 平口鉄太郎, 足利昌俊, 佐倉緑, 菊池美香, 太田順, 青沼仁志
  • Organizer: 日本動物学会第77回大会予稿集107
• [Presentation] コオロギ群の喧嘩行動を規範とした移動ロボット群の探餌行動 (2006)
  • Author(s): 足利昌俊, 菊池美香, 平口鉄太郎, 佐倉緑, 青沼仁志, 太田順
  • Organizer: 第16回インテリジェント・システム・シンポジウム講演論文集,17/22
• [Presentation] コオロギ群の喧嘩行動をモデルとした動的環境下における移動ロボット群の採餌作業 (2006)
  • Author(s): 足利昌俊, 平口鉄太郎, 佐倉緑, 菊池美香, 青沼仁志, 太田順
  • Organizer: 計測自動制御学会第7回システムインテグレーション部門学術講演会2006(SI2006)講演論文集,876/877
• [Presentation] 適応的行動選択を実現する昆虫の神経回路モデルに関する研究-複数個体環境下における行動選択モデルの検証- (2006)
  • Author(s): 藤木智久, 足利昌俊, 川端邦明, 太田順, 青沼仁志, 淺間一
  • Organizer: 計測自動制御学会第7回システムインテグレーション部門学術講演会2006(SI2006)講演論文集,878/879
• [Presentation] Modeling of social interaction in the male crickets (2006)
  • Author(s): Hiraguchi, T., Ashikaga, M., Sakura, M., Kikuchi, M., Ota, J., Aonuma, H.
  • Organizer: Zool.Sci.,23:12, 1203
• [Presentation] Behavioral modeling of crickets and multi-agent robot system design (2005)
  • Author(s): J.Ota, H.Asama, K.Kawabata
  • Organizer: Proceedings of 1st International Symposium on Mobiligence : Emergence of Adaptive Motor Function through Interaction among the Body, Brain and Environment (Mobiligence'05), pp.67-70
  • Place of Presentation: Sapporo
• [Book] シリーズ移動知第4巻社会適応 (2010)
  • Author(s): 太田順, 青沼仁志編
  • Publisher: オーム社
• [Remarks] ホームページ等
  • URL: http://www.race.u-tokyo.ac.jp/~ota/mobiligence/index.html
• [Remarks]
  • URL: http://www.race.u-tokyo.ac.jp/~ota/mobiligence/index.html
• [Remarks]
  • URL: http://www.race.u-tokyo.ac.jp/~ota/mobiligence
• [Remarks]
  • URL: http://www.robot.t.u-tokyo.ac.jp/mobiligence