| Budget Amount *help |
¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2019: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2018: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2017: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
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| Outline of Final Research Achievements |
It is difficult to communicate the status of each other in an underwater environment when multiple robots work in cooperation. In this study, it was clarified experimentally that cooperative control can be achieved by autonomously executing the assigned scenario without having each robot's status. The results suggested that the accuracy of cooperative control would be further improved by learning the situation during work execution in real time and tuning the feedback gain itself. In addition, it became clear that an observer robot should be required to monitor the work status.
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