| Budget Amount *help |
¥4,940,000 (Direct Cost: ¥3,800,000、Indirect Cost: ¥1,140,000)
Fiscal Year 2015: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2014: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2013: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
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| Outline of Final Research Achievements |
The objective of this research project is to model motion of a massively large swarm including millions of individuals, and apply it to control swarm robots. The following three items have been achieved as the result of this project. (1) It is investigated that the phase transition phenomenon in a swarm is caused by the change of neighborhood in a swarm, which is shown by a flocking model and numerical experiments. (2) For flocking, each of the robots should estimate a relative position and velocity of other robots in neighbors in a totally local manner. The distributed Kalman filter has been developed to estimate them using local communication between the robots. (3) The knowledge obtained from the phase transition phenomenon has been applied to a flocking control model and it has become possible to make a large swarm of robots.
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