Learning of Dynamics and Cooperative Control of Aerial Vehicles Using a High-Speed Vision System

• Project/Area Number: 18360110
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Dynamics/Control
• Research Institution: Tohoku University
• Principal Investigator: HASHIMOTO Koichi Tohoku University, 大学院・情報科学研究科, 教授 (80228410)
• Co-Investigator(Kenkyū-buntansha): IWATANI Yasushi 東北大学, 大学院・情報科学研究科, 助教 (10400300)
• Project Period (FY): 2006 – 2008
• Project Status: Completed (Fiscal Year 2008)
• Budget Amount: ¥17,820,000 (Direct Cost: ¥14,700,000、Indirect Cost: ¥3,120,000); Fiscal Year 2008: ¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000); Fiscal Year 2007: ¥8,710,000 (Direct Cost: ¥6,700,000、Indirect Cost: ¥2,010,000); Fiscal Year 2006: ¥4,300,000 (Direct Cost: ¥4,300,000)
• Keywords: 機械力学・制御 / 機械学習 / 計測工学 / ビジュアルサーボ / 分散制御 / 飛行体 / ネットワーク制御 / ハイブリッドシステム

Research Abstract

ビジョンシステムの高速化にともない, 機械システムのダイナミクスの測定をビジョンにより行うことが可能となってきた. 特に, 飛行体のような, 非接触センサによる計測が求められるシステムでは, ビジョンの利用が有効である. 本研究では, 複数の超高速ビジョンから構成されるネットワークセンシングシステムに対する情報統合化アルゴリズムを設計し, 複数の飛行体のフォーメーションフライト制御系を構築している.

Research Products

• [Journal Article] 隠れにロバストなビジュアルサーボ (2009)
  • Author(s): 岩谷靖、渡部渓、橋本浩一
  • Journal Title: 日本ロボット学会誌 27巻、1号 Pages: 55-62
  • NAID: 10023981092
  • Peer Reviewed
• [Journal Article] 隠れにロバストなビジュアルサーボ (2009)
  • Author(s): 岩谷靖
  • Journal Title: 日本ロボット学会誌 27 Pages: 55-62
  • NAID: 10023981092
  • Peer Reviewed
• [Journal Article] センサスケジューリング問題におけるセンサ切替平面の解析 (2008)
  • Author(s): 荒井翔悟、岩谷靖、橋本浩一
  • Journal Title: システム制御情報学会論文誌 21巻、12号 Pages: 417-419
  • NAID: 10024059246
  • Peer Reviewed
• [Journal Article] 高速最適センサスケジューリング (2008)
  • Author(s): 荒井翔悟、岩谷靖、橋本浩一
  • Journal Title: システム制御情報学会論文誌 21巻、10号 Pages: 327-335
  • NAID: 10024262350
  • Peer Reviewed
• [Journal Article] Image-based visual PID control of a micro helicopter using a stationary camera (2008)
  • Author(s): K. Watanabe, Y. Yoshihata, Y. Iwatani and K. Hashimoto
  • Journal Title: Advanced Robotics Vol.22,No.2-3 Pages: 381-393
  • NAID: 10025775922
  • Peer Reviewed
• [Journal Article] センサスケジューリング問題におけるセンサ切替平面の解析 (2008)
  • Author(s): 荒井翔悟
  • Journal Title: システム制御情報学会論文誌 21 Pages: 417-419
  • Peer Reviewed
• [Journal Article] 高速最適センサスケジューリング (2008)
  • Author(s): 荒井翔悟
  • Journal Title: システム制御情報学会論文誌 21 Pages: 327-335
  • Peer Reviewed
• [Journal Article] Image-Based Visual Servoing of a Micro Helicopter Using a Stationary Camera (2008)
  • Author(s): Kei Watanabe
  • Journal Title: Advanced Robotics 22 Pages: 381-393
  • Peer Reviewed
• [Journal Article] ヘビロボットと三叉ヘビロボット : 可制御性の構造解析に基づく制御 (2006)
  • Author(s): 岩谷靖
  • Journal Title: 計測と制御 45・7 Pages: 620-625
  • NAID: 10018005983
• [Journal Article] Stability tests and stabilization for piecewise linear systems based on poles and zeros of subsystems (2006)
  • Author(s): Yasushi Iwatani
  • Journal Title: Automatica 42・10 Pages: 1685-1695
• [Presentation] Fast and optimal sensor scheduling for networked sensor systems (2008)
  • Author(s): S. Arai
  • Organizer: IEEE Conf.on Decision and Conference
  • Place of Presentation: Cancun,Mexico
  • Year and Date: 2008-12-09
• [Presentation] Fast and optimal sensor scheduling for networked sensor systems (2008)
  • Author(s): Shogo Arai
  • Organizer: IEEE Conference on Decision and Control
  • Place of Presentation: カンクン, メキシコ
  • Year and Date: 2008-12-09
• [Presentation] A visual-servo-based assistant system for unmanned helicopter control (2008)
  • Author(s): Y. Iwatani
  • Organizer: IEEE/RSJ Int.Conf.on Intelligent Robots and Systems, Nice
  • Place of Presentation: France
  • Year and Date: 2008-09-23
• [Presentation] A visual-servo-based assistant system for unmanned helicopter control (2008)
  • Author(s): Yasushi Iwatani
  • Organizer: IEEE / RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: ニース, フランス
  • Year and Date: 2008-09-23
• [Presentation] Fast sensor scheduling for mobile sensor networks (2008)
  • Author(s): Y. Iwatani
  • Organizer: SICE Annual Conf.
  • Place of Presentation: Tokyo,Japan
  • Year and Date: 2008-08-21
• [Presentation] Multi-camera visual servoing of multiple micro helicopters (2008)
  • Author(s): Y. Iwatani
  • Organizer: SICE Annual Conf.
  • Place of Presentation: Tokyo,Japan
  • Year and Date: 2008-08-21
• [Presentation] Fast sensor scheduling for mobile sensor networks (2008)
  • Author(s): Shogo Arai
  • Organizer: SICE Annual Conference
  • Place of Presentation: 東京
  • Year and Date: 2008-08-21
• [Presentation] Multi-camera visual servoing of multiple micro helicopters (2008)
  • Author(s): Yasushi Iwatani
  • Organizer: SICE Annual Conference
  • Place of Presentation: 東京
  • Year and Date: 2008-08-21
• [Presentation] Automatic take-off and landing of an unmanned helicopter using vision-based control with occlusion handling (2008)
  • Author(s): Y. Iwatani
  • Organizer: Symposium on Robot Design, Dynamics, and Control(RoManSy)
  • Place of Presentation: Tokyo,Japan
  • Year and Date: 2008-07-06
• [Presentation] Automatic take-off and landing of an unmanned helicopter using vision-based control with occlusion handling (2008)
  • Author(s): Yasushi Iwatani
  • Organizer: CISM-IFToMM Symposium on Robot Design Dynamics, and Cnntrol
  • Place of Presentation: 東京
  • Year and Date: 2008-07-06
• [Presentation] Visual tracking with occlusion handling for visual servo control (2008)
  • Author(s): Y. Iwatani
  • Organizer: IEEE Int.Conf.on Robotics and Automation
  • Place of Presentation: Pasadena,USA
  • Year and Date: 2008-05-21
• [Presentation] Visual tracking with occlusion handling for visual Servo control (2008)
  • Author(s): Yasushi Iwatani
  • Organizer: IEEE International Conference on Robotics and Automation
  • Place of Presentation: パサデナ, アメリカ
  • Year and Date: 2008-05-21
• [Presentation] Multi-camera visual servoing of a micro helicopter under occlusions (2007)
  • Author(s): Y. Iwatani
  • Organizer: IEEE/RSJ Int.Conf.on Intelligent Robots and Systems
  • Place of Presentation: San Diego,USA
  • Year and Date: 2007-10-31
• [Presentation] Multi-Camera Visual Servoing of a Micro Helicopter Under Occlusions (2007)
  • Author(s): Yasushi Iwatani
  • Organizer: IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: San Diego, USA
  • Year and Date: 2007-10-31
• [Presentation] Image-based visual PID control of a micro helicopter using a stationary camera (2007)
  • Author(s): Y. Iwatani
  • Organizer: SICE Annual Conf.
  • Place of Presentation: Takamatsu,Japan
  • Year and Date: 2007-09-20
• [Presentation] Visual control of a micro helicopter under dynamic occlusions (2007)
  • Author(s): Y. Iwatani
  • Organizer: Int.Conf.on Advanced Robotics
  • Place of Presentation: Jeju,Korea
  • Year and Date: 2007-08-23
• [Presentation] Visual control of a micro helicopter under dynamic occlusions (2007)
  • Author(s): Yasushi Iwatani
  • Organizer: The 13th International Conference on Advanced Robotics
  • Place of Presentation: Jeju, Korea
  • Year and Date: 2007-08-23
• [Presentation] Optimal sensor scheduling of sensors in a sensor network for mobile robot navigation (2007)
  • Author(s): S. Arai
  • Organizer: American Control Conference
  • Place of Presentation: New York City,USA
  • Year and Date: 2007-07-11
• [Book] Recent Progress in Robotics : Viable Robotic Service to Human(S. Lee, I.H. Suh, M.S. Kim) (2008)
  • Author(s): Y. Yoshihata, K. Watanabe, Y. Iwatani,and K. Hashimoto
  • Publisher: Springer-Verlag, Visual control of a micro helicopter under dynamic occlusions.