Study on Dynamic Cooperative Visual Feedback Sensor Network Design via Distributed Model Predictive Control

• Project/Area Number: 19560437
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Control engineering
• Research Institution: Tokyo Institute of Technology
• Principal Investigator: FUJITA Masayuki Tokyo Institute of Technology, 大学院・理工学研究科, 教授 (90181370)
• Co-Investigator(Kenkyū-buntansha): HATANAKA Takeshi 東京工業大学, 大学院・理工学研究科, 助教 (10452012)
• Project Period (FY): 2007 – 2008
• Project Status: Completed (Fiscal Year 2008)
• Budget Amount: ¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000); Fiscal Year 2008: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000); Fiscal Year 2007: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
• Keywords: 協調制御 / 分散モデル予測制御 / 視覚フィードバック / センサネットワーク / ロボティックネットワーク / 制御工学

Research Abstract

受動性と呼ばれるシステム特性を利用することで、3次元空間上において限られた情報交換の下でモバイルセンサ群を協調させる強調制御則を提案した。加えて視覚オブザーバの理論を協調制御に応用することで協調視覚フィードバック制御系を提案し、グローバルな情報を用いることなくセンサ群を誘導する方法を可能とした。同時に、センサネットワークシステムにおけるセンサの最適配置問題に取り組み、モバイルカメラセンサ群の最適な行動を明らかにした。

Research Products

• [Journal Article] Passivity-basd Attitude Synchronization in SE(3) (2009)
  • Author(s): Y. Igarashi, T. Hatanaka, M. Fujita and M. W. Spong
  • Journal Title: IEEE Transactions on Control Systems Technology 17
  • Peer Reviewed
• [Journal Article] 受動性に基づく固定カメラ構造の3次元視触覚フィードバック制御 (2009)
  • Author(s): 河合宏之, 村尾俊幸, 藤田政之
  • Journal Title: システム制御情報学会論文誌 53
  • NAID: 10026193807
  • Peer Reviewed
• [Journal Article] ランダムに現れるターゲットに対する周期的最適探索制御 (2008)
  • Author(s): 齊藤譲, 畑中健志, 藤田政之
  • Journal Title: 計測自動制御学会論文集 45 Pages: 168-176
  • Peer Reviewed
• [Journal Article] センサネットワークと制御理論 (2008)
  • Author(s): 飯野穣, 畑中健志, 藤田政之
  • Journal Title: 計測と制御 47 Pages: 649-656
  • NAID: 10024262464
• [Journal Article] 受動性に基づく可動カメラ構造の3次元動的視覚フィードバック制御 (2008)
  • Author(s): 村尾俊幸, 河合宏之, 藤田政之
  • Journal Title: 電気学会論文誌C 128 Pages: 286-294
  • NAID: 10021131395
  • Peer Reviewed
• [Journal Article] ランダムに現れるターゲットに対する周期的最適探索制御 (2008)
  • Author(s): 齊藤護, 畑中健志, 藤田政之
  • Journal Title: 計測自動制御学会論文集 45 Pages: 168-176
  • Peer Reviewed
• [Journal Article] センサネットワークと制御理論 (解説) (2008)
  • Author(s): 飯野穣, 畑中健志, 藤田政之
  • Journal Title: 計測と制御 47 Pages: 649-656
• [Journal Article] 受動性に基づいた3次元姿勢協調 (2007)
  • Author(s): 五十嵐裕司, 畑中健志, 藤田政之
  • Journal Title: 計測自動制御学会論文集 43 Pages: 1156-1164
  • NAID: 10020028575
  • Peer Reviewed
• [Journal Article] マルチエージェントシステムとビークルフォーメション(解説) (2007)
  • Author(s): 早川朋久, 藤田政之
  • Journal Title: 46 Pages: 823-828
• [Journal Article] マルチエージェントシステムとビークルフォーメション (2007)
  • Author(s): 早川朋久, 藤田政之
  • Journal Title: 計測と制御 46 Pages: 823-828
  • NAID: 10019785599
  • Peer Reviewed
• [Presentation] 情報構造を持つ線形確率システムに対する分散予測制御 (2009)
  • Author(s): 宮野竜也
  • Organizer: 第9回制御部門大会
  • Place of Presentation: 広島
  • Year and Date: 2009-03-06
• [Presentation] Distributed decision making for two alternative choice task : exploration and coverage (2009)
  • Author(s): T. Hatanaka
  • Organizer: 第9回制御部門大会
  • Place of Presentation: 広島
  • Year and Date: 2009-03-06
• [Presentation] 進化ゲーム理論に基づいた探索行動の秩序形成 (2009)
  • Author(s): 齊藤護
  • Organizer: 第9回制御部門大会
  • Place of Presentation: 広島
  • Year and Date: 2009-03-06
• [Presentation] 受動性に基づく視覚フィードバックシステムに対する同調制御の一考察 (2009)
  • Author(s): 村尾俊幸
  • Organizer: 第9回制御部門大会
  • Place of Presentation: 広島
  • Year and Date: 2009-03-05
• [Presentation] 信頼性を考慮したセンサネットワーク化制御系に関する考察 (2009)
  • Author(s): 飯野穣
  • Organizer: 第9回制御部門大会
  • Place of Presentation: 広島
  • Year and Date: 2009-03-04
• [Presentation] Coverage Control for Mobile Networks with Limited-Range Anisotropic Sensors (2008)
  • Author(s): T. Hatanaka
  • Organizer: 47th IEEE Conference on Decision and Control
  • Place of Presentation: Cancun, Mexico
  • Year and Date: 2008-12-11
• [Presentation] Passivity-based Output Synchronization and Flocking Algorithm in SE(3) (2008)
  • Author(s): T. Hatanaka
  • Organizer: 47th IEEE Conference on Decision and Control
  • Place of Presentation: Cancun, Mexico
  • Year and Date: 2008-12-10
• [Presentation] モデル予測型イベント駆動制御のセンサ・アクチュエータネットワーク制御システムへの応用 (2008)
  • Author(s): 飯野穣
  • Organizer: 第37回制御理論シンポジウム
  • Place of Presentation: 鹿児島
  • Year and Date: 2008-09-19
• [Presentation] ランダムに現れるターゲットに対する周期的最適探索制御 (2008)
  • Author(s): 齊藤護
  • Organizer: 第37回制御理論シンポジウム
  • Place of Presentation: 鹿児島
  • Year and Date: 2008-09-18
• [Presentation] Passivity-based Dynamic Visual Force Feedback Control for Fixed Camera (2008)
  • Author(s): H. Kawai
  • Organizer: IEEE Multi-conference on Systems and Control
  • Place of Presentation: San Antonio, USA
  • Year and Date: 2008-09-03
• [Presentation] Experimental Implementation of Bilateral Teleoperation with Time Delay using Command Governor (2008)
  • Author(s): Y. Kawai
  • Organizer: Sice Annual Conference 2008
  • Place of Presentation: 東京
  • Year and Date: 2008-08-22
• [Presentation] Experimental Implementation of Bilateral Teleoperation with Time Delay using Command Governor (2008)
  • Author(s): Yasunori Kawai
  • Organizer: SICE Annual Conference 2008
  • Place of Presentation: 東京
  • Year and Date: 2008-08-22
• [Presentation] Formation Control via Receding Horizon Control : A Set Theoretic Approach (2008)
  • Author(s): T. Hatanaka
  • Organizer: Sice Annual Conference 2008
  • Place of Presentation: 東京
  • Year and Date: 2008-08-21
• [Presentation] Formation Control via Receding Horizon Control : A Set Theoretic Approach (2008)
  • Author(s): Takeshi Hatanaka
  • Organizer: SICE Annual Conference 2008
  • Place of Presentation: 東京
  • Year and Date: 2008-08-21
• [Presentation] Wireless Sensor Network Based Control System Considering Communication Cost (2008)
  • Author(s): Yutaka lino
  • Organizer: 17th IFAC World Congress
  • Place of Presentation: Seoul, Korea
  • Year and Date: 2008-07-11
• [Presentation] Wireless Sensor Network Based Control System Considering Communication Cost (2008)
  • Author(s): Y. Iino
  • Organizer: 17^<th> IFAC World Congress
  • Place of Presentation: Seoul, Korea
  • Year and Date: 2008-07-08
• [Presentation] Control of Formations of UAVs for Surveillance and Reconnaissance Missions (2008)
  • Author(s): T. Kopfstedt
  • Organizer: 17th IFAC World Congress
  • Place of Presentation: Seoul, Korea
  • Year and Date: 2008-07-08
• [Presentation] Coverage Control with Information Decay in Dynamic Environments (2008)
  • Author(s): N. Hubel
  • Organizer: 17th IFAC World Congress
  • Place of Presentation: Seoul, Korea
  • Year and Date: 2008-07-08
• [Presentation] Coverage Control with Information Decay in Dynamic Environments (2008)
  • Author(s): 飯野穣
  • Organizer: 17^<th> IFAC World Congress
  • Place of Presentation: Seoul, Korea
  • Year and Date: 2008-07-08
• [Presentation] Predictive Visual Feedback Control with Eye-in/to-Hand Configuration via stabilizing Receding Horizon Approach (2008)
  • Author(s): Toshiyuki Murao
  • Organizer: 17th IFAC World Congress
  • Place of Presentation: Seoul, Korea
  • Year and Date: 2008-07-08
• [Presentation] Predictive Visual Feedback Control with Eye-in/to-Hand Configuration via Stabilizing Receding Horizon Control (2008)
  • Author(s): T. Murao
  • Organizer: 17^<th> IFAC World Congress
  • Place of Presentation: Seoul, Korea
  • Year and Date: 2008-07-05
• [Presentation] Passivity-based Output Synchronization in SE(3) (2008)
  • Author(s): M. Fujita
  • Organizer: 2008 American Control Conference
  • Place of Presentation: Seattle, USA
  • Year and Date: 2008-06-11
• [Presentation] Voronoi Based Coverage Control with Anisotropic Sensors (2008)
  • Author(s): T. Hatanaka
  • Organizer: 2008 American Control Conference
  • Place of Presentation: Seattle, USA
  • Year and Date: 2008-06-11
• [Presentation] 協調制御 (2008)
  • Author(s): 藤田政之
  • Organizer: 第52回システム制御情報学会研究発表講演会
  • Place of Presentation: 京都
  • Year and Date: 2008-05-17
• [Presentation] 制御エネルギー消費を考慮した最適探索制御 (2008)
  • Author(s): 齊藤護
  • Organizer: 第8回制御部門大会
  • Place of Presentation: 京都
  • Year and Date: 2008-03-06
• [Presentation] 受動性に基づく固定カメラシステムの3次元視触覚フィードバック制御 (2008)
  • Author(s): 河合宏之
  • Organizer: 第8回制御部門大会
  • Place of Presentation: 京都
  • Year and Date: 2008-03-05
• [Presentation] Coverage Control for Mobile Networks with Limited-Range Anistropic Sensors (2008)
  • Author(s): A. Gusrialdi
  • Organizer: 第8回制御部門大会
  • Place of Presentation: 京都
  • Year and Date: 2008-03-05
• [Presentation] Passivit-based 3D Attitude Coordination : Convergence and Connectivity (2007)
  • Author(s): Y. Igarashi
  • Organizer: 46th IEEE Conference on Decision and Control
  • Place of Presentation: New Orleans, USA
  • Year and Date: 2007-12-13
• [Presentation] Passivit-based 3D Attitude Coordination: Convergence and Connectivity (2007)
  • Author(s): Y. Igarashi
  • Organizer: 46th IEEE Conference on Decision and Control
  • Place of Presentation: New Orleans, USA
  • Year and Date: 2007-12-13
• [Presentation] SE(3)空間上での出力協調に関する実験的考察 (2007)
  • Author(s): 小林尚斗
  • Organizer: 第50回自動制御連合講演会
  • Place of Presentation: 神奈川
  • Year and Date: 2007-11-24
• [Presentation] Decentralized Formation Control including Collision Avoidance by Using Set Invariance Theory (2007)
  • Author(s): N. Kitudomrat
  • Organizer: 第50 回自動制御連合講演会
  • Place of Presentation: 神奈川
  • Year and Date: 2007-11-24
• [Presentation] Decentralized Formation Control including Collision Avoidance by Using Set Invariance Theory (2007)
  • Author(s): N. Kitudomrat
  • Organizer: 第50回自動制御連合講演会
  • Place of Presentation: 神奈川
  • Year and Date: 2007-11-24
• [Presentation] Passivity-based Visual Force Feedback Control for Planar Manipulators with Eye-in-Hand Configuration (2007)
  • Author(s): H. Kawai
  • Organizer: 2007 IEEE Conference on Control Applications
  • Place of Presentation: Singapore
  • Year and Date: 2007-10-03
• [Presentation] Wireless Sensor Network based Control System (2007)
  • Author(s): Y. Iino
  • Organizer: SICE Annual Conference 2007
  • Place of Presentation: 高松
  • Year and Date: 2007-09-20
• [Presentation] 無線センサーネットワーク制御システムの諸問題における考察 -通信コストと制御性能のトレードオフ- (2007)
  • Author(s): 飯野穣
  • Organizer: 第36回制御理論シンポジウム
  • Place of Presentation: 札幌
  • Year and Date: 2007-09-07
• [Presentation] 無線センサーネットワーク制御システムの諸問題における考察-通信コストと制御性能のトレードオフ- (2007)
  • Author(s): 飯野穣
  • Organizer: 第36回制御理論シンポジウム
  • Place of Presentation: 札幌
  • Year and Date: 2007-09-07
• [Presentation] SE(3)における出力協調 -受動性アプローチ- (2007)
  • Author(s): 五十嵐裕司
  • Organizer: 第36回制御理論シンポジウム
  • Place of Presentation: 札幌
  • Year and Date: 2007-09-05
• [Presentation] 受動性に基づく視覚フィードバックにおける推定と制御の内部構造 (2007)
  • Author(s): 村尾俊幸
  • Organizer: 第36回制御理論シンポジウム
  • Place of Presentation: 札幌
  • Year and Date: 2007-09-05
• [Presentation] Towards Coverage Control Problem with Anisotropic Sensors in 2D Space (2007)
  • Author(s): A. Gusrialdi
  • Organizer: 第36回制御理論シンポジウム
  • Place of Presentation: 札幌
  • Year and Date: 2007-09-05
• [Presentation] Infinite Time Coverage Control with Information Decay (2007)
  • Author(s): N. Hubel
  • Organizer: 第36回制御理論シンポジウム
  • Place of Presentation: 札幌
  • Year and Date: 2007-09-05
• [Presentation] 受動性に基づいた3次元姿勢協調におけるリーダ追尾問題(収束性の解析と実験的考察) (2007)
  • Author(s): 小林尚斗
  • Organizer: 日本機械学会 第10回運動と振動の制御シンポジウム
  • Place of Presentation: 東京
  • Year and Date: 2007-08-10
• [Presentation] 受動性に基づいた3次元姿勢協調におけるリーダ追尾問題(収束性の解析と実験的考察) (2007)
  • Author(s): 小林尚斗
  • Organizer: 日本機械学会 第10回 運動と振動の制御 シンポジウム
  • Place of Presentation: 東京
  • Year and Date: 2007-08-10
• [Book] Advances in Robot Manipulatiors (2009)
  • Author(s): H. Kawai, T. Murao and M. Fujita
  • Total Pages: 8
  • Publisher: IN-TECH
• [Book] Assessment and Future Directions of Nonlinear Model Predictive Control, Lecture Notes in Control and Information Sciences Series (2007)
  • Author(s): M. Fujita, T. Murao, Y. Kawai and Y. Nakaso
  • Publisher: Springer
• [Book] Assessment and Future Directions of Nonlinear Model Predictive Control (2007)
  • Author(s): M. Fujita, T. Murao, Y. Kawai and Y. Nakaso
  • Total Pages: 639
  • Publisher: springer-Verlag
• [Remarks]
  • URL: http://www.fl.ctrl.titech.ac.jp//researches/2007/movie.htm