Investigation of the phase transition phenomenon in a large swarm and application to swarm robotics
| Project/Area Number |
25330308
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Intelligent robotics
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| Research Institution | The University of Aizu |
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Principal Investigator |
Keitaro Naruse 会津大学, コンピュータ理工学部, 准教授 (10301938)
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| Project Period (FY) |
2013-04-01 – 2016-03-31
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| Project Status |
Completed (Fiscal Year 2015)
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| 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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| Keywords | スワームロボティクス / 群れ形成 / マルチエージェントシステム / 可視化 / 自己位置推定 / カルマンフィルタ |
|---|
| 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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Report
(4 results)
Research Products
(34 results)
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[Presentation] 深層学習による音響イベント検出2015
Author(s)
丹羽 孔明, 川上 敬, 大江 亮介, 成瀬 継太郎, 木下 正博, 三田村 保
Organizer
日本機械学会ロボティクスメカトロニクス講演会
Place of Presentation
京都市
Year and Date
2015-05-17
Related Report
Int'l Joint Research
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[Patent(Industrial Property Rights)] 産業財産権2013
Inventor(s)
成瀬継太郎、鶴見裕樹、川島一浩
Industrial Property Rights Holder
会津大学、玉川エンジニアリング
Industrial Property Rights Type
特許
Industrial Property Number
2013-188978
Filing Date
2013-09-12
Related Report
