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Autonomous swarm flight of small quadrotors using Kullback-Leibler control

Research Project

Project/Area Number 18K13782
Research Category

Grant-in-Aid for Early-Career Scientists

Allocation TypeMulti-year Fund
Review Section Basic Section 21040:Control and system engineering-related
Research InstitutionKansai University

Principal Investigator

Motonaka Kimiko  関西大学, システム理工学部, 准教授 (70781772)

Project Period (FY) 2018-04-01 – 2023-03-31
Project Status Completed (Fiscal Year 2022)
Budget Amount *help
¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
Fiscal Year 2020: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Fiscal Year 2019: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2018: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Keywords群飛行 / 障害物回避 / 動作計画 / KL制御
Outline of Final Research Achievements

The purpose of this study is to realize autonomous swarm flight of multiple quadrotors using Kullback-Leibler control. First, a collision avoidance algorithm, which is essential for autonomous flight of quadrotor swarms, was studied, and a mutual collision avoidance algorithm based on buffered Voronoi cells was implemented. The results of the implementation were verified by simulations, and improvements were made to address new problems that arose. In particular, we proposed methods for dealing with deadlock, moving using only local information obtained by LiDAR, and collision avoidance in 3D space including the height direction based on 3D Voronoi division. In addition, we have set up a facility for actual experiments, and conducted group flight experiments with four quadrotors.

Academic Significance and Societal Importance of the Research Achievements

本研究では,クワッドロータの群飛行時に必須となる衝突回避アルゴリズムの改良と検証を行った.具体的には、BVCを用いた相互衝突回避アルゴリズムを実装・改良し,デッドロックへの対処や,局所情報のみを用いた移動手法を提案し,3次元空間における衝突回避を実現した.これは群飛行の実現を前進させるものであり,学術的に重要である.また,群飛行技術の進展は物流・監視・災害対策などを目的として社会的にも期待されており,その点でこれらの成果は社会的意義も有している.

Report

(6 results)
  • 2022 Annual Research Report   Final Research Report ( PDF )
  • 2021 Research-status Report
  • 2020 Research-status Report
  • 2019 Research-status Report
  • 2018 Research-status Report
  • Research Products

    (31 results)

All 2022 2021 2020 2019 2018

All Journal Article (8 results) (of which Peer Reviewed: 8 results,  Open Access: 4 results) Presentation (23 results) (of which Int'l Joint Research: 6 results)

  • [Journal Article] Obstacle avoidance using buffered voronoi cells based on local information from a laser range scanner2022

    • Author(s)
      Motonaka Kimiko、Miyoshi Seiji
    • Journal Title

      Advanced Robotics

      Volume: 37 Issue: 1-2 Pages: 73-86

    • DOI

      10.1080/01691864.2022.2121616

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Statistical-Mechanical Analysis of Adaptive Volterra Filter with the LMS Algorithm2021

    • Author(s)
      MOTONAKA Kimiko、KOSEKI Tomoya、KAJIKAWA Yoshinobu、MIYOSHI Seiji
    • Journal Title

      IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences

      Volume: E104.A Issue: 12 Pages: 1665-1674

    • DOI

      10.1587/transfun.2021EAP1013

    • NAID

      130008123142

    • ISSN
      0916-8508, 1745-1337
    • Year and Date
      2021-12-01
    • Related Report
      2021 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Control of a quadrotor group based on maximum hands-off distributed control2021

    • Author(s)
      Motonaka Kimiko、Watanabe Takuya、Kwon Yuhwan、Nagahara Masaaki、Miyoshi Seiji
    • Journal Title

      International Journal of Mechatronics and Automation

      Volume: 8 Issue: 4 Pages: 200-200

    • DOI

      10.1504/ijma.2021.120377

    • Related Report
      2021 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Obstacle Avoidance using BVC for a Quadrotor2021

    • Author(s)
      Motonaka Kimiko、Miyoshi Seiji
    • Journal Title

      Journal of the Robotics Society of Japan

      Volume: 39 Issue: 5 Pages: 459-462

    • DOI

      10.7210/jrsj.39.459

    • NAID

      130008055460

    • ISSN
      0289-1824, 1884-7145
    • Related Report
      2021 Research-status Report
    • Peer Reviewed
  • [Journal Article] Numerical Verification on Collision Avoidance of Multiple Quadrotors Using Voronoi Division2020

    • Author(s)
      中川健人,権裕煥,本仲君子,三好誠司
    • Journal Title

      Transactions of the Society of Instrument and Control Engineers

      Volume: 56 Issue: 1 Pages: 31-36

    • DOI

      10.9746/sicetr.56.31

    • NAID

      130007793660

    • ISSN
      0453-4654, 1883-8189
    • Related Report
      2020 Research-status Report 2019 Research-status Report
    • Peer Reviewed
  • [Journal Article] Connecting PM and MAP in Bayesian spectral deconvolution by extending exchange Monte Carlo method and using multiple data sets2019

    • Author(s)
      Kimiko Motonaka and Seiji Miyoshi
    • Journal Title

      Neural Networks

      Volume: 118 Pages: 159-166

    • DOI

      10.1016/j.neunet.2019.05.004

    • Related Report
      2019 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Control System for a Quadrotor Using the Harmonic Potential Field Information around the Robot2018

    • Author(s)
      本仲君子,渡辺桂吾,前山祥一
    • Journal Title

      Transactions of the Institute of Systems, Control and Information Engineers

      Volume: 31 Issue: 5 Pages: 202-208

    • DOI

      10.5687/iscie.31.202

    • NAID

      130007434668

    • ISSN
      1342-5668, 2185-811X
    • Year and Date
      2018-05-15
    • Related Report
      2018 Research-status Report
    • Peer Reviewed
  • [Journal Article] Preface to the Special Issue on “Electronic Circuit Techniques and Related Topics”2018

    • Author(s)
      寺内清訓,本仲君子,梶川嘉延,三好誠司
    • Journal Title

      IEEJ Transactions on Electronics, Information and Systems

      Volume: 138 Issue: 1 Pages: 1-1

    • DOI

      10.1541/ieejeiss.138.1

    • NAID

      130006301475

    • ISSN
      0385-4221, 1348-8155
    • Related Report
      2018 Research-status Report
    • Peer Reviewed
  • [Presentation] UAVのための3次元ボロノイ分割による衝突回避手法の検証2022

    • Author(s)
      本仲君子,三好誠司
    • Organizer
      第40回日本ロボット学会学術講演会
    • Related Report
      2022 Annual Research Report
  • [Presentation] 風外乱環境下におけるクワッドロータのモデル予測経路積分制御に関する検証2022

    • Author(s)
      塩見将貴,久保田景,本仲君子,三好誠司
    • Organizer
      計測自動制御学会 システムインテグレーション部門講演会(SI 2022)
    • Related Report
      2022 Annual Research Report
  • [Presentation] 動的空間における複数のクワッドロータのRRT*FNDによる移動制御2022

    • Author(s)
      岡田健吾,本仲君子,三好誠司
    • Organizer
      第23回計測自動制御学会 システムインテグレーション部門講演会(SI 2022)
    • Related Report
      2022 Annual Research Report
  • [Presentation] Statistical-Mechanical Analysis of Adaptive Volterra Filter for Time-Varying Unknown System2021

    • Author(s)
      Koyo Kugiyama, Kimiko Motonaka, Yoshinobu Kajikawa, and Seiji Miyoshi,
    • Organizer
      Asia-Pacific Signal and Information Processing Association Annual Summit and Conference 2021 (APSIPA ASC 2021) ,
    • Related Report
      2021 Research-status Report
    • Int'l Joint Research
  • [Presentation] Application of maximum hands-off distributed control to a quadrotor group2021

    • Author(s)
      Kimiko Motonaka, Takuya Watanabe, Yufwan Kwon, Masaski Nagahara, and Seiji Miyoshi,
    • Organizer
      IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2021)
    • Related Report
      2021 Research-status Report
    • Int'l Joint Research
  • [Presentation] A Synthesis Method of Spiking Neural Oscillators with Considering Asymptotic Stability2021

    • Author(s)
      Yasuaki Kuroe, Seiji Miyoshi, Hiroomi Hikawa, Hidetaka Ito, Kimiko Motonaka, and Yutaka Maeda,
    • Organizer
      2021 International Joint Conference on Neural Networks (IJCNN2021)
    • Related Report
      2021 Research-status Report
    • Int'l Joint Research
  • [Presentation] ドライデンモデルによる風外乱環境下におけるクワッドロータのモデル予測経路積分制御,2021

    • Author(s)
      塩見将貴,本仲君子,三好誠司,
    • Organizer
      第22回計測自動制御学会 システムインテグレーション部門講演会
    • Related Report
      2021 Research-status Report
  • [Presentation] 時変な未知システムに対する適応ボルテラフィルタの統計力学的解析,2021

    • Author(s)
      久木山航洋,本仲君子,梶川嘉延,三好誠司,
    • Organizer
      信号処理シンポジウム
    • Related Report
      2021 Research-status Report
  • [Presentation] 周辺情報のみを用いたBVCによるクワッドロータの障害物回避,2021

    • Author(s)
      本仲君子,三好誠司
    • Organizer
      第39回日本ロボット学会学術講演会
    • Related Report
      2021 Research-status Report
  • [Presentation] Combining Model Predictive Path Integral with Kalman Variational Auto-encoder for Robot Control from Raw Images2020

    • Author(s)
      Yuhwan Kwon, Takumi Kaneko, Yoshihisa Tsurumine, Hikaru Sasaki, Kimiko Motonaka, Seiji Miyoshi, Takamitsu Matsubara
    • Organizer
      2020 IEEE/SICE International Symposium on System Integration (SII2020)
    • Related Report
      2020 Research-status Report 2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] BVCを用いたクワッドロータの障害物回避手法の検討2020

    • Author(s)
      本仲君子,三好誠司
    • Organizer
      第38回日本ロボット学会学術講演会
    • Related Report
      2020 Research-status Report
  • [Presentation] 適応ボルテラフィルタの動的なふるまいに関する統計力学的解析2020

    • Author(s)
      本仲君子,小関智也,梶川嘉延,三好誠司
    • Organizer
      電子情報通信学会 ニューロコンピューティング研究会
    • Related Report
      2019 Research-status Report
  • [Presentation] BVCに基づく複数クワッドロータの相互衝突回避手法の検証2019

    • Author(s)
      中川健人,権裕煥,本仲君子,三好誠司
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2019
    • Related Report
      2019 Research-status Report
  • [Presentation] モデル予測経路積分制御と深層経路コスト予測器による高次元観測モデルベース強化学習2019

    • Author(s)
      権裕煥,鶴峯義久,本仲君子,三好誠司,松原崇充
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2019
    • Related Report
      2019 Research-status Report
  • [Presentation] スパース合意制御のクワッドロータ群への適用2019

    • Author(s)
      本仲君子,志水勇仁,野坂昴宏,永原正章,三好誠司
    • Organizer
      第37回日本ロボット学会学術講演会
    • Related Report
      2019 Research-status Report
  • [Presentation] ガウス過程回帰を用いた大量運動者の心拍データ送信制御法2019

    • Author(s)
      藤田宙,本仲君子, 四方博之,三好誠司
    • Organizer
      信号処理シンポジウム
    • Related Report
      2019 Research-status Report
  • [Presentation] 高次適応ボルテラフィルタに関する統計力学的解析2019

    • Author(s)
      本仲君子,小関智也,梶川嘉延,三好誠司
    • Organizer
      信号処理シンポジウム
    • Related Report
      2019 Research-status Report
  • [Presentation] Empirical verification of information theoretic model predictive control2018

    • Author(s)
      Yuhwan Kwon, Kimiko Motonaka, Takamitsu Matsubara, and Seiji Miyoshi
    • Organizer
      SICE Annual Conference
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] Statistical-Mechanical Analysis of the Second-Order Adaptive Volterra Filter2018

    • Author(s)
      Kimiko Motonaka, Takashi Katsube, Yoshinobu Kajikawa, and Seiji Miyoshi
    • Organizer
      Asia-Pacific Signal and Information Processing Association Annual Summit and Conference (APSIPA ASC)
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] 数値実験による情報論的モデル予測制御の性能検証2018

    • Author(s)
      権裕煥,本仲君子,松原崇充,三好誠司
    • Organizer
      システム制御情報学会研究発表講演会
    • Related Report
      2018 Research-status Report
  • [Presentation] 複数のデータセットを用いたスペクトル分解(Ⅱ)2018

    • Author(s)
      本仲君子,三好誠司
    • Organizer
      日本物理学会 第73回年次大会
    • Related Report
      2018 Research-status Report
  • [Presentation] 変分オートエンコーデッドモデル予測経路積分制御と画像入力に基づくロボット制御への応用2018

    • Author(s)
      権裕煥,金子拓光,鶴峰義久,佐々木光,本仲君子,松原崇充,三好誠司
    • Organizer
      日本ロボット学会学術講演会
    • Related Report
      2018 Research-status Report
  • [Presentation] ボロノイ分割を用いた複数のクワッドロータの相互衝突回避に関する数値的検証2018

    • Author(s)
      中川健人,本仲君子,三好誠司
    • Organizer
      計測自動制御学会システムインテグレーション部門講演会
    • Related Report
      2018 Research-status Report

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Published: 2018-04-23   Modified: 2024-01-30  

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