Robust Wireless Networking and Loose Coordination in Robot Swarm

• Project/Area Number: 22360157
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Communication/Network engineering
• Research Institution: Osaka City University
• Principal Investigator: HARA Shinsuke 大阪市立大学, 大学院・工学研究科, 教授 (80228618)
• Project Period (FY): 2010 – 2012
• Project Status: Completed (Fiscal Year 2012)
• Budget Amount: ¥11,830,000 (Direct Cost: ¥9,100,000、Indirect Cost: ¥2,730,000); Fiscal Year 2012: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000); Fiscal Year 2011: ¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000); Fiscal Year 2010: ¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
• Keywords: ロボットスワーム / 無線情報通信 / ネットワーキング / 行動制御 / コーディネート / スワーム / マルチパス / 協調伝送 / 位置推定 / 受信電力 / 到来時間 / 群ロボット / 受信電力測定 / クラスタリング / マルチパスルーチング

Research Abstract

For a robot swarm, which is composed of a number of robots, this research proposed a distant multipath routing method and a cooperative transmission method as means for realizing robust wireless information networking among robots, on the other hand, a bl

Research Products

• [Journal Article] A Perturbation Analysis on the Performance of TOA and TDOA Localization in Mixed LOS/NLOS Environments (2013)
  • Author(s): S. Hara, D. Anzai, T. Yabu, K. Lee, T. Derham, and R. Zemek
  • Journal Title: IEEE Transactions on Communications Volume: Vol.61, No.2 Pages: 679-689
  • Peer Reviewed
• [Journal Article] Perturbation Analysis on the Performance of TOA and TDOA Localization in Mixed LOS/NLOS Environments, (2013)
  • Author(s): Shinsuke Hara
  • Journal Title: IEEE Transactions on Communications Volume: 61 Pages: 679-689
  • Peer Reviewed
• [Journal Article] セルラシステムにおける MIMO を用いた位置推定法 (2012)
  • Author(s): 藪 智文、 原 晋介
  • Journal Title: 電子情報通信学会誌B Volume: Vol.J95-B、No.9 Pages: 1197-1209
  • NAID: 110009495467
  • Peer Reviewed
• [Journal Article] A Distant Multipath Routing Method for Reliable Wireless Multi-Hop Data Transmission (2012)
  • Author(s): K. Terai, D. Anzai, K. Lee, K. Yanagihara, and S. Hara
  • Journal Title: IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences Volume: Vol.E95-A, No.4 Pages: 723-734
  • NAID: 10030937809
  • Peer Reviewed
• [Journal Article] A Distant Multipath Routing Method for Reliable Wireless Multi-Hop Data Transmission (2012)
  • Author(s): Kento Terai
  • Journal Title: IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences Volume: E95-A Pages: 723-734
  • Peer Reviewed
• [Journal Article] セルラシステムにおけるMIMOを用いた位置推定法 (2012)
  • Author(s): 藪智文
  • Journal Title: 電子情報通信学会論文誌 Volume: J95-B Pages: 1197-1209
  • Peer Reviewed
• [Journal Article] A Multiple Cooperative Nodes Selection Method for Reliable Wireless Multi-Hop Data Transmission (2012)
  • Author(s): M. Kubo
  • Journal Title: Proceedings of International Symposium on Wireless Communication Systems 2012 Volume: - Pages: 486-490
  • Peer Reviewed
• [Journal Article] A Distant Multipath Routing Method for Reliable Wireless Multi-Hop Data Transmission (2012)
  • Author(s): Kento Terai, Daisuke Anzai, Kyesan Lee, Kentaro Yanagihara, Shinsuke Hara
  • Journal Title: IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences Volume: Vol.E95-A Pages: 723-734
  • NAID: 10030937809
  • Peer Reviewed
• [Journal Article] Use of Area Layout Information for RSSI-Based Indoor Target Tracking Methods (2011)
  • Author(s): D. Anzai, K. Yanagihara, K. Lee, and S. Hara
  • Journal Title: IEICE Transactions on Communications Volume: Vol.E94-B, No.7 Pages: 1924-1932
  • NAID: 10029803481
  • Peer Reviewed
• [Journal Article] Use of Area Layout Information for RSSI-Based Indoor Target Tracking Methods (2011)
  • Author(s): Daisuke Anzai, Kentaro Yanagihara, Kyesan Lee, Shinsuke Hara
  • Journal Title: IEICE Transactions on Communications Volume: E94-B Issue: 7 Pages: 1924-1932
  • DOI: 10.1587/transcom.E94.B.1924
  • NAID: 10029803481
  • ISSN: 0916-8516, 1745-1345
  • Peer Reviewed
• [Journal Article] A Distant Multipath Routing Method for Reliable Wireless Multi-Hop Data Transmission (2011)
  • Author(s): Kento Terai, Daisuke Anzai, Kentaro Yanagihara, Shinsuke Hara
  • Journal Title: Proceedings of IEEE Vehicular Technology Conference (VTC) 2011 Fall Pages: 1-5
  • DOI: 10.1109/vetecf.2011.6092828
  • NAID: 10030937809
  • Peer Reviewed
• [Journal Article] A Cooperative Transmission Scheme for Real-Time Data Gathering in a Wireless Body Area Network (2011)
  • Author(s): Shinsuke Hara, Daisuke Anzai, Kentaro Yanagihara, Kenichi Takizawa, Kiyoshi Hamaguchi
  • Journal Title: Proceedings of IEEE International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC)2011 Pages: 2254-2258
  • DOI: 10.1109/pimrc.2011.6139919
  • Peer Reviewed
• [Journal Article] Initial Robots Formation for Clustering and Information Networking in a Robot Swarm (2011)
  • Author(s): Yuiko Tanaka, Shinsuke Hara
  • Journal Title: Proceedings of International Symposium on Wireless Personal Multimedia Communications (WPMC) 2011 Pages: 1-5
  • Peer Reviewed
• [Journal Article] Use of area layout information for RSSI-based indoor target tracking methods (2011)
  • Author(s): Daisuke Anzai, Kentaro Yanagihara, Kyesan Lee, Shinsuke Hara
  • Journal Title: IEICE Transactions on Communications Volume: E94-B, No.7(掲載決定)
  • NAID: 10029803481
  • Peer Reviewed
• [Journal Article] An area layout-based MAP estimation for indoor target tracking (2010)
  • Author(s): Daisuke Anzai, Shinsuke Hara
  • Journal Title: Proceedings of IEEE Vehicular Technology Conference (VTC) 2010-Fall Volume: (CD-ROM) Pages: 1-5
  • Peer Reviewed
• [Journal Article] Does particle filter really outperform low pass filter in indoor target tracking? (2010)
  • Author(s): Daisuke Anzai, Shinsuke Hara
  • Journal Title: Proceedings of IEEE International Symposium on Personal, Indoor, Mobile Radio Communications(PIMRC) 2010 Volume: (CD-ROM) Pages: 882-886
  • Peer Reviewed
• [Journal Article] Selection Criteria of Cooperative Nodes for Reliable Wireless Multi-Hop Data Transmission (2010)
  • Author(s): Masaki Kubo, Daisuke Anzai, Shinsuke Hara
  • Journal Title: Proceedings of IEEE International Symposiumon Wireless Communication Systems (ISWCS)2010 Volume: (CD-ROM) Pages: 345-359
  • Peer Reviewed
• [Presentation] MIMOを用いたTOA測距法の理論解析2012年電子情報通信学会 (2012)
  • Author(s): 藪 智文、 原 晋介
  • Organizer: 2012年電子情報通信学会ソサイエティ大会
  • Place of Presentation: 富山大学
  • Year and Date: 2012-09-11
• [Presentation] 複数台の協調ノード選択による無線マルチホップ通信の高信頼性化 (2012)
  • Author(s): 久保正樹,原晋介
  • Organizer: 2012年電子情報通信学会総合大会
  • Place of Presentation: 岡山大学
  • Year and Date: 2012-03-22
• [Presentation] MIMOを用いたTOA測距法の理論解析 (2012)
  • Author(s): 藪智文
  • Organizer: 2012年電子情報通信学会 ソサイエティ大会
  • Place of Presentation: 富山大学
• [Presentation] 無線通信と制御の融合-ビヨンド・コグニティブ無線の可能性- (2011)
  • Author(s): 原普介
  • Organizer: 2011年電子情報通信学会ソサイエティ大会
  • Place of Presentation: 北海道大学
  • Year and Date: 2011-09-16
• [Presentation] スワームロボットにおける通信ネットワーク構築のための初期形態に関する研究 (2011)
  • Author(s): 田中結子、 原 晋介
  • Organizer: 2011年電子情報通信学会ソサイエティ大会
  • Place of Presentation: 北海道大学
  • Year and Date: 2011-09-14
• [Presentation] 複数台の協調ノード選択による無線マルチホップ通信の高信頼性化 (2011)
  • Author(s): 久保正樹、原 晋介
  • Organizer: 2012年電子情報通信学会総合大会
  • Place of Presentation: 岡山大学
  • Year and Date: 2011-03-22
• [Presentation] 無線マルチホップ通信の高信頼性化のための協調ノード選択法 (2010)
  • Author(s): 久保正樹, 安在大祐, 原晋介
  • Organizer: 電子情報通信学会ワイドバンドシステム研究会
  • Place of Presentation: 奈良市ならまちセンター(奈良県)
  • Year and Date: 2010-10-08
• [Presentation] セルラシステムにおける受信信号の到来時刻と電力による最大事後確率位置推定法 (2010)
  • Author(s): 安在大祐、 藪 智文、 原 晋介
  • Organizer: 電子情報通信学会ワイドバンドシステム研究会
  • Place of Presentation: 奈良市ならまちセンター
  • Year and Date: 2010-10-07
• [Presentation] セルラシステムにおける受信信号の到来時刻と電力による最大事後確率位置推定法 (2010)
  • Author(s): 安在大祐, 藪智文, 原晋介
  • Organizer: 電子情報通信学会ワイドバンドシステム研究会
  • Place of Presentation: 奈良市ならまちセンター(奈良県)
  • Year and Date: 2010-10-07