Multi-robot Formation and Synchronization Control based on a Space-Division Optical Inter-Robot Communication and Localization Systemc
| Project/Area Number |
22500169
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Nagasaki Institute of Applied Science |
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Principal Investigator |
YASUDA Gen'ichi 長崎総合科学大学, 情報学部, 非常勤講師 (10174509)
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| Co-Investigator(Kenkyū-buntansha) |
TAKAI Hiroyuki 広島市立大学, 情報科学研究科, 助教 (20264963)
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| Project Period (FY) |
2010 – 2012
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| Project Status |
Completed (Fiscal Year 2012)
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| Budget Amount *help |
¥3,510,000 (Direct Cost: ¥2,700,000、Indirect Cost: ¥810,000)
Fiscal Year 2012: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2011: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2010: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
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| Keywords | センサ融合 / 統合 / ロボット相互通信 / 協調的位置同定 / 群ロボットシステム / 相互通信 / 相互位置検出 / 相互連携 / 協調行動制御 / 隊列形成 / 自律分散システム / 空間光通信 / マルチロボット / 自律統合 / ペトリネット / 光通信 |
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| Research Abstract |
This research deals with a systematic methodology for modeling multi-robot tasks based on Petri nets. To overcome some difficulties in the real-time multi-robot formation and synchronization control, a hierarchical modeling approach has been developed, and the extended net representation of the robotic behaviors has been embedded into a web service based distributed control architecture.
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Report
(4 results)
Research Products
(45 results)
