| Project/Area Number |
21560457
|
|---|
| 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 東京工業大学, 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) |
2009 – 2011
|
| Project Status |
Completed (Fiscal Year 2011)
|
| Budget Amount *help |
¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2011: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2010: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2009: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
|
|---|
| Keywords | 制御理論 / 制御工学 / センサネットワーク / ロボティックネットワーク / 協調制御 / 耐故障性 |
|---|
| Research Abstract |
This project aimed at(1) Visual Observer-Based Cooperative Control,(2) Cooperative Task Switching Algorithm Design,(3) Robust Cooperative Control Algorithm Design,(4) Establishment of a Robotic Sensor Network System. On Topic(1): We succeeded in deriving theoretical results on conditions for achieving successful cooperation. The result was accepted for presentation at premier conferences, where it received a high evaluation as the first paper providing a nonlinear observer-based cooperative control scheme with theoretical guarantees. The result was also published in a domestic journal. We also extended the result from a pin-hole type camera model to a panoramic camera model so as to overcome the view angle issue which is an essential problem when we use a vision sensor. The result was also published in an international conference and a domestic journal. On Topic(2): We have succeeded in presenting a task switching law based on a so-called consensus protocol. The paper received a best presentation award at a premier conference. Moreover, we presented another distributed task switching algorithm based on evolutionary game theory, which was published in an international journal. On Topic(3): We thought of an idea that robust cooperation is met by integrating game theory with cooperative control. As a preliminary, we first addressed the problem in(i) via game theoretic approach, which was successfully accepted for an international conference and a domestic journal. Moreover, we presented a learning algorithm leading agents to the optimal actions even without any prior knowledge on environment. A series of the results will be presented at a conference and, recently, the journal version was accepted for publication. On Topic(iv): We succeeded in establishing a robotic sensor network system and most of the papers mentioned above include experimental verification using the system.
|
