| Project/Area Number |
20KK0086
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| Research Category |
Fund for the Promotion of Joint International Research (Fostering Joint International Research (B))
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| Allocation Type | Multi-year Fund |
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| Review Section |
Medium-sized Section 20:Mechanical dynamics, robotics, and related fields
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| Research Institution | Osaka University |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
浦西 友樹 大阪大学, D3センター, 教授 (00533738)
ORLOSKY JASON 大阪大学, D3センター, 招へい教員 (10815111)
三輪 昌史 徳島大学, 大学院社会産業理工学研究部(理工学域), 准教授 (40283957)
竹村 治雄 大阪大学, スチューデント・ライフサイクルサポートセンター, 特任教授 (60263430)
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| Project Period (FY) |
2020-10-27 – 2025-03-31
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| Project Status |
Completed (Fiscal Year 2024)
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| Budget Amount *help |
¥18,720,000 (Direct Cost: ¥14,400,000、Indirect Cost: ¥4,320,000)
Fiscal Year 2022: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2021: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
Fiscal Year 2020: ¥14,560,000 (Direct Cost: ¥11,200,000、Indirect Cost: ¥3,360,000)
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| Keywords | aerial-aquatic robotic / mapping / planning / disater recogniton / detective networks / image translation / 3d mapping / low-visibility / ATA robot / aerial robot / aquatic robot / plannning / ATA mapping / point cloud estimation / panoptic / transition / ATA mechanic / docking station / releasing mechanism / fire blanket / seamless transition / multi-legged robot / ATA / Aerial / Terrestrial / Aquatic |
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| Outline of Research at the Start |
We propose Aerial-Terrestrial-Aquatic Robots (ATA-Robots) that are capable of search and rescue in an ATA Extreme Environment (specifically a flooded cave) extreme conditions such as zero visibility, strong disturbances from water/wind flow and strong waves at the water’s surface.
We will develop new concept of ATA Control, ATA Sensing and ATA Interface concept to enable robot to have seamless aerial-terrestrial-aquatic transition. The dataset will be collected at several cave in the world for training testing and optimization.
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| Outline of Final Research Achievements |
This research develops a novel framework for autonomous multi-robot systems capable of operating across air and water. We propose a unified approach to sensing, mapping, and task planning in trans-media environments, introducing new algorithms such as multi-box interpolation for accurate point cloud estimation during the air-water transition. Using monocular camera data and pressure-based medium detection, our system dynamically adapts to challenging environmental changes. Additionally, we extend multi-robot task allocation (MRTA) by integrating flexible team coordination and mission planning using PDDL and the OPTIC planner. The framework improves efficiency and scalability in complex missions. Applications include disaster response, environmental monitoring, and underwater infrastructure inspection.
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| Academic Significance and Societal Importance of the Research Achievements |
This research enables robots to operate seamlessly across air and water by introducing new sensing, mapping, and task planning methods. It contributes to robotics and disaster response, with applications in rescue, environmental monitoring, and infrastructure inspection.
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