• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to previous page

Enhanced Cooperation of Moving Agents via an Active Modular Environment

Research Project

Project/Area Number 20J23011
Research Category

Grant-in-Aid for JSPS Fellows

Allocation TypeSingle-year Grants
Section国内
Review Section Basic Section 61030:Intelligent informatics-related
Research InstitutionTokyo Institute of Technology

Principal Investigator

奥村 圭祐  東京工業大学, 情報理工学院, 特別研究員(DC1)

Project Period (FY) 2020-04-24 – 2023-03-31
Project Status Completed (Fiscal Year 2022)
Budget Amount *help
¥2,800,000 (Direct Cost: ¥2,800,000)
Fiscal Year 2022: ¥900,000 (Direct Cost: ¥900,000)
Fiscal Year 2021: ¥900,000 (Direct Cost: ¥900,000)
Fiscal Year 2020: ¥1,000,000 (Direct Cost: ¥1,000,000)
Keywordsマルチロボット協調 / 経路計画
Outline of Research at the Start

実物理空間を分散管理するシステムによってエージェント群の行動計画を行い、協調行動を誘発するインフラストラクチャの構築を目的とする。環境を複数セルで構成し、セルそのものに計算能力を埋め込むことで、この上で駆動するエージェント群の行動計画を、セル上で実行される分散アルゴリズムで生成する。研究内容は、1)モジュール型グリッド環境及び小型ロボットの開発、2)セル視点のマルチエージェント経路計画アルゴリズムの開発、3)システム上でのメカニズムデザインの設計、タスク割当の機構の研究からなる。

Outline of Annual Research Achievements

R4年度ではマルチロボット協調やマルチエージェント経路計画の基礎研究を進めて次の研究成果を挙げた。(1)マルチエージェント経路計画に関する基礎的なアルゴリズムPIBTの研究を遂行した。論文はAIJという分野で著名な国際誌にて出版された。(2)プランニング実行時の不確実性に対処するため、時間非依存なマルチエージェント経路計画という問題を新規に提案し、解析、実機でのデモ等を行った。論文はIJCAI-22という人工知能分野で著名な国際会議に採択され、ウィーン現地で発表を行った。また、ジャーナル版がT-ROというロボティクス分野で著名な国際誌に掲載された。(3)高速にマルチロボット・モーションプランニングを解く、ドメイン非依存なアルゴリムSSSPを開発した。論文はIJCAI-23に採択された。(4)フランス・ソルボンヌ大学とリスク下での経路計画に関する共同研究を行った。論文は人工知能分野で著名な国際会議AAAI-23に採択され、ワシントンDC現地で発表を行った。(5)新規にマルチエージェント経路計画のアルゴリズムLaCAMを開発した。成果論文がAAAI-23、IJCAI-23に採択された。

Research Progress Status

令和4年度が最終年度であるため、記入しない。

Strategy for Future Research Activity

令和4年度が最終年度であるため、記入しない。

Report

(3 results)
  • 2022 Annual Research Report
  • 2021 Annual Research Report
  • 2020 Annual Research Report
  • Research Products

    (30 results)

All 2023 2022 2021 2020 Other

All Int'l Joint Research (1 results) Journal Article (12 results) (of which Int'l Joint Research: 8 results,  Peer Reviewed: 12 results,  Open Access: 10 results) Presentation (6 results) (of which Int'l Joint Research: 1 results,  Invited: 2 results) Remarks (10 results) Patent(Industrial Property Rights) (1 results)

  • [Int'l Joint Research] Sorbonne University/LIP6(フランス)

    • Related Report
      2022 Annual Research Report
  • [Journal Article] Offline Time-Independent Multiagent Path Planning2023

    • Author(s)
      Okumura Keisuke、Bonnet Francois、Tamura Yasumasa、Defago Xavier
    • Journal Title

      IEEE Transactions on Robotics (T-RO)

      Volume: - Issue: 4 Pages: 1-18

    • DOI

      10.1109/tro.2023.3258690

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Fault-Tolerant Offline Multi-Agent Path Planning2023

    • Author(s)
      Okumura Keisuke、Tixeuil Sebastien
    • Journal Title

      Proc. AAAI Conf. on Artificial Intelligence (AAAI; In Press)

      Volume: - Pages: 1-8

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] LaCAM: Search-Based Algorithm for Quick Multi-Agent Pathfinding2023

    • Author(s)
      Okumura Keisuke
    • Journal Title

      Proc. AAAI Conf. on Artificial Intelligence (AAAI; In Press)

      Volume: - Pages: 1-8

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Quick Multi-Robot Motion Planning by Combining Sampling and Search2023

    • Author(s)
      Okumura Keisuke、Defago Xavier
    • Journal Title

      Proc. Int. Joint Conf. on Artificial Intelligence (IJCAI; in Press)

      Volume: - Pages: 1-8

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Improving LaCAM for Scalable Eventually Optimal Multi-Agent Pathfinding2023

    • Author(s)
      Okumura Keisuke
    • Journal Title

      Proc. Int. Joint Conf. on Artificial Intelligence (IJCAI; in Press)

      Volume: - Pages: 1-8

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Offline Time-Independent Multi-agent Path Planning2022

    • Author(s)
      K. Okumura, F. Bonnet, Y. Tamura, X. Defago
    • Journal Title

      31st International Conference on Artificial Intelligence (IJCAI)

      Volume: n/a Pages: 4649-4656

    • DOI

      10.24963/ijcai.2022/645

    • NAID

      130008052002

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Priority inheritance with backtracking for iterative multi-agent path finding2022

    • Author(s)
      Okumura Keisuke、Machida Manao、Defago Xavier、Tamura Yasumasa
    • Journal Title

      Artificial Intelligence

      Volume: 310 Pages: 103752-103752

    • DOI

      10.1016/j.artint.2022.103752

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Solving Simultaneous Target Assignment and Path Planning Efficiently with Time-Independent Execution2022

    • Author(s)
      Okumura Keisuke、Defago Xavier
    • Journal Title

      Proceedings of the International Conference on Automated Planning and Scheduling

      Volume: 32 Pages: 270-278

    • DOI

      10.1609/icaps.v32i1.19810

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Active Modular Environment for Robot Navigation2021

    • Author(s)
      Shota Kameyama, Keisuke Okumura, Yasumasa Tamura, Xavier Defago
    • Journal Title

      2021 IEEE International Conference on Robotics and Automation (ICRA)

      Volume: None Pages: 8636-8642

    • DOI

      10.1109/icra48506.2021.9561111

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Iterative Refinement for Real-Time Multi-Robot Path Planning2021

    • Author(s)
      Keisuke Okumura, Yasumasa Tamura, Xavier Defago
    • Journal Title

      2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

      Volume: None Pages: 9690-9697

    • DOI

      10.1109/iros51168.2021.9636071

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Time-Independent Planning for Multiple Moving Agents2021

    • Author(s)
      Keisuke Okumura, Yasumasa Tamura, Xavier Defago
    • Journal Title

      Proc. AAAI Conf. on Artificial Intelligence (AAAI)

      Volume: 35(13) Pages: 11299-11307

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] winPIBT: Extended Prioritized Algorithm for Iterative Multi-agent Path Finding2021

    • Author(s)
      Keisuke Okumura, Yasumasa Tamura, Xavier Defago
    • Journal Title

      IJCAI Workshop on Multi-Agent Path Finidng (WoMAPF)

      Volume: - Pages: 1-9

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Presentation] エージェント群のナビゲーション2022

    • Author(s)
      奥村 圭祐
    • Organizer
      組合せ遷移・第27回セミナー (CoRe)
    • Related Report
      2022 Annual Research Report
    • Invited
  • [Presentation] Quick Multi-Agent Path Planning2022

    • Author(s)
      Keisuke Okumura
    • Organizer
      Seminar talks at the VUB AI lab, Belgium
    • Related Report
      2022 Annual Research Report
    • Invited
  • [Presentation] Building Blocks of Swarm Automation2022

    • Author(s)
      Keisuke Okumura
    • Organizer
      Research Meeting and School on Distributed Computing by Mobile Robots (MaC)
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 時間非依存なマルチエージェント経路計画2021

    • Author(s)
      奥村 圭祐
    • Organizer
      第17回 情報科学ワークショップ (WTCS)
    • Related Report
      2021 Annual Research Report
  • [Presentation] Offline Time-Independent Multi-Agent Path Planning2021

    • Author(s)
      奥村 圭祐, 田村 康将 & Defago Xavier.
    • Organizer
      人工知能学会全国大会 (JSAI)
    • Related Report
      2021 Annual Research Report
  • [Presentation] Representation, Planning, Execution, and Their Integration in Multiple Moving Agents2020

    • Author(s)
      奥村 圭祐, 田村 康将 & DEFAGO Xavier
    • Organizer
      第16回情報科学ワークショップ
    • Related Report
      2020 Annual Research Report
  • [Remarks] otimapp

    • URL

      https://kei18.github.io/otimapp

    • Related Report
      2022 Annual Research Report
  • [Remarks] pibt2

    • URL

      https://kei18.github.io/pibt2/

    • Related Report
      2022 Annual Research Report
  • [Remarks] mappcf

    • URL

      https://kei18.github.io/mappcf/

    • Related Report
      2022 Annual Research Report
  • [Remarks] lacam

    • URL

      https://kei18.github.io/lacam/

    • Related Report
      2022 Annual Research Report
  • [Remarks] sssp

    • URL

      https://kei18.github.io/sssp/

    • Related Report
      2022 Annual Research Report
  • [Remarks] afada (ICRA-21)

    • URL

      https://www.coord.c.titech.ac.jp/afada/

    • Related Report
      2021 Annual Research Report
  • [Remarks] mapf-IR (IROS-21)

    • URL

      https://kei18.github.io/mapf-IR/

    • Related Report
      2021 Annual Research Report
  • [Remarks] tswap (ICAPS-22)

    • URL

      https://kei18.github.io/tswap/

    • Related Report
      2021 Annual Research Report
  • [Remarks] PIBT for Iterative Multi-agent Path Finding

    • URL

      https://kei18.github.io/pibt/

    • Related Report
      2020 Annual Research Report
  • [Remarks] Time-Independent Planning for Multiple Agents

    • URL

      https://kei18.github.io/time-independent-planning/

    • Related Report
      2020 Annual Research Report
  • [Patent(Industrial Property Rights)] 管理システム及び管理方法2020

    • Inventor(s)
      デファゴクサヴィエ, 田村康将, 亀山聖太, 奥村圭祐, 森将真
    • Industrial Property Rights Holder
      東京工業大学
    • Industrial Property Rights Type
      特許
    • Filing Date
      2020
    • Acquisition Date
      2021
    • Related Report
      2020 Annual Research Report

URL: 

Published: 2020-07-07   Modified: 2024-03-26  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi