Network framework for cooperative control of robots and distributed sensors based on on-site automatic component connection

• Project/Area Number: 22700196
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: The University of Tokyo
• Principal Investigator: NOGUCHI Hiroshi 東京大学, 大学院・医学系研究科, 特任助教 (50431797)
• Project Period (FY): 2010 – 2011
• Project Status: Completed (Fiscal Year 2011)
• Budget Amount: ¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000); Fiscal Year 2011: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000); Fiscal Year 2010: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
• Keywords: ミドルウエア / センサネットワーク / ロボットナビゲーション / フレームワーク / ロボット統御 / ネーミングシステム

Research Abstract

I constructed framework for intelligent control of introduced robots by cooperating with distributed sensors through network. In the framework, sensors and robots are managed as software components. The components are selected and connected to control module automatically according to the robot situation. This mechanism enhances robot's recognition to the surrounding environment. I demonstrated the framework feasibility by the experiment that I have succeeded mobile robot navigation under the area where three kinds of sensors are deployed.

Research Products

• [Journal Article] 大量の人移動計測データに基づく移動ロボットの人回避経路計画 (2012)
  • Author(s): 野口博史, 山田隆基, 森武俊, 佐藤知正
  • Journal Title: 日本ロボット学会誌 Volume: (掲載確定)
  • NAID: 10031028384
  • Peer Reviewed
• [Journal Article] Flexible Discovery of Components for Sensor Data Processing by RDF in Network Middleware for Home Environment (2011)
  • Author(s): Hiroshi Noguchi, Taketoshi Mori and Tomomasa Sato
  • Journal Title: Journal of Robotics and Mechatronics Volume: Vol.23, No.4 Pages: 505-514
  • Peer Reviewed
• [Journal Article] Flexible Discovery of Components for Sensor Data Processing by RDF in Network Middleware for Home Environment (2011)
  • Author(s): Hiroshi Noguchi, Taketoshi Mori, Tomomasa Sato
  • Journal Title: Journal of Robotics and Mechatronics Volume: 23 Pages: 505-514
  • Peer Reviewed
• [Journal Article] Multiple-Person Tracking by Multiple Cameras and Laser Range Scanners in Indoor Environments (2010)
  • Author(s): Hiroshi Noguchi, Taketoshi Mori, Takashi Matsumoto, Masamichi Shimosaka, Tomomasa Sato
  • Journal Title: Journal of Robotics and Mechatronics Volume: 22 Pages: 221-229
  • Peer Reviewed
• [Presentation] Mobile Robot Path Planning using Human Prediction Model based on Massive Trajectories (2012)
  • Author(s): Hiroshi Noguchi, Takaki Yamada, Taketoshi Mori and Tomomasa Sato
  • Organizer: IEEE International Conference on Networked Sensing Systems, 2012
  • Place of Presentation: アントワープ,ベルギー
  • Year and Date: 2012-06-14
• [Presentation] 異種分散センサの選択に基づくナビゲーションを可能とする移動ロボットフレームワーク (2012)
  • Author(s): 野口博史,清田英寿,福井類,下坂正倫,森武俊,佐藤知正
  • Organizer: 電子情報通信学会技術研究報告(クラウドネットワークロボット)
  • Place of Presentation: 機械振興会館,東京都
  • Year and Date: 2012-02-27
• [Presentation] 異種分散センサの選択に基づくナビゲーションを可能とする移動ロボットフレームワーク (2012)
  • Author(s): 野口博史
  • Organizer: 電子情報通信学会 第4回クラウドネットワークロボット研究会
  • Place of Presentation: 機械振興会館(東京都)
  • Year and Date: 2012-02-27
• [Presentation] 大量の人移動計測データに基づく移動ロボットの人回避経路計画 (2011)
  • Author(s): 野口博史,山田隆基,森武俊,佐藤知正
  • Organizer: 第29回日本ロボット学会学術講演会
  • Place of Presentation: 芝浦工大豊洲キャンパス東京都
  • Year and Date: 2011-09-08
• [Presentation] 大量の人移動計測データに基づく移動ロボットの人回避経路計画 (2011)
  • Author(s): 野口博史
  • Organizer: 第29回日本ロボット学会学術講演会
  • Place of Presentation: 芝浦工大豊洲キャンパス(東京都)
  • Year and Date: 2011-09-08
• [Presentation] Mobile Robots and People Tracking based on Switching Network-managed Distributed Sensors (2010)
  • Author(s): 野口博史
  • Organizer: IROS 2010 Workshop Ubiquitous Networking Robotics : approach for Human-Robot Interaction
  • Place of Presentation: 台湾,台北
  • Year and Date: 2010-10-22
• [Presentation] Mobile Robots and People Tracking based on Switching Network-managed Distributed Sensors (2010)
  • Author(s): Hiroshi Noguchi, Takaki Yamada, Taketoshi Mori and Tomomasa Sato
  • Organizer: IROS 2010 Workshop, Ubiquitous Networking Robotics : approach for Human-Robot Interaction
  • Place of Presentation: 台北,台湾
  • Year and Date: 2010-10-18
• [Presentation] ネットワーク管理された分散センサ群を用いたロボット・人間追跡 (2010)
  • Author(s): 野口博史
  • Organizer: 日本ロボット学会
  • Place of Presentation: 名古屋工業大学
  • Year and Date: 2010-09-24