2011 Fiscal Year Final Research Report
Robust Cooperative Algorithm Design for Robotic Sensor Networks and Experimental Verification
| Project/Area Number |
21560457
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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 |
Control engineering
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| Research Institution | Tokyo Institute of Technology |
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Principal Investigator |
FUJITA Masayuki 東京工業大学, 大学院・理工学研究科, 教授 (90181370)
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| Co-Investigator(Kenkyū-buntansha) |
HATANAKA Takeshi 東京工業大学, 大学院・理工学研究科, 助教 (10452012)
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| Project Period (FY) |
2009 – 2011
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| Keywords | 制御理論 |
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| Research Abstract |
This project aimed at(1) Visual Observer-Based Cooperative Control,(2) Cooperative Task Switching Algorithm Design,(3) Robust Cooperative Control Algorithm Design,(4) Establishment of a Robotic Sensor Network System. On Topic(1): We succeeded in deriving theoretical results on conditions for achieving successful cooperation. The result was accepted for presentation at premier conferences, where it received a high evaluation as the first paper providing a nonlinear observer-based cooperative control scheme with theoretical guarantees. The result was also published in a domestic journal. We also extended the result from a pin-hole type camera model to a panoramic camera model so as to overcome the view angle issue which is an essential problem when we use a vision sensor. The result was also published in an international conference and a domestic journal. On Topic(2): We have succeeded in presenting a task switching law based on a so-called consensus protocol. The paper received a best presentation award at a premier conference. Moreover, we presented another distributed task switching algorithm based on evolutionary game theory, which was published in an international journal. On Topic(3): We thought of an idea that robust cooperation is met by integrating game theory with cooperative control. As a preliminary, we first addressed the problem in(i) via game theoretic approach, which was successfully accepted for an international conference and a domestic journal. Moreover, we presented a learning algorithm leading agents to the optimal actions even without any prior knowledge on environment. A series of the results will be presented at a conference and, recently, the journal version was accepted for publication. On Topic(iv): We succeeded in establishing a robotic sensor network system and most of the papers mentioned above include experimental verification using the system.
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[Presentation] Passivity-based Visual Motion Observer2010
Author(s)
T. Hatanaka and M. Fujita
Organizer
From Theory to Distributed Algorithms, Tutorial Session on Computer Vision and Control for the CACSD component on the IEEE 2010 MSC
Place of Presentation
Tokyo, Japan
Year and Date
2010-09-08
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