2023 Fiscal Year Final Research Report
Design and Demonstration of Semi-Autonomous Distributed Farm Monitoring Systems
| Project/Area Number |
21K04104
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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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| Review Section |
Basic Section 21040:Control and system engineering-related
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| Research Institution | Tokyo Institute of Technology |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
山内 淳矢 東京大学, 大学院情報理工学系研究科, 助教 (60824563)
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| Project Period (FY) |
2021-04-01 – 2024-03-31
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| Keywords | 膿瘍モニタリング / ドローンネットワーク / 半自律制御 / 分散協調制御 |
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| Outline of Final Research Achievements |
In this project, we proposed a novel distributed cooperative control method of drone networks for farm monitoring, especially for building 3D models of farmlands and crops, and verified its effectiveness through theory, simulation, laboratory experiments, and field experiments. We also proposed a novel semi-autonomous control system that allows human intervention in this cooperative control, and conducted human modeling and its characteristic analysis based on human operation data. The former was conducted as an international joint research project with the Italian CNR, and the latter with the University of Seville and the University of Maryland, and has been published in several international journals and international conferences. Through this research, we have succeeded in clearly demonstrating that appropriate human-drone swarm coordination can significantly improve accuracy of the 3D models.
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| Free Research Field |
システム制御
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| Academic Significance and Societal Importance of the Research Achievements |
空撮画像からの3次元モデル復元はコンピュータビジョンの分野で長く研究されてきたが、ここでは画像データは所与のものとして復元精度の向上が主題であった。これに対して、本研究課題はドローン群の適切な協調制御が復元精度と画像サンプリングの効率向上に大きく寄与することを示した。また、適切な人間の介入によってさらなる精度向上を実現する半自律制御を提案するとともに、3次元運動操作時の人間動特性に関する新たな知見を導出した。これらはいずれも高い学術的新規性を有する成果である。また、フィールド実験を通して提案システムの実現可能性を明示したことで、農作業の負荷軽減という社会課題の解決に寄与する可能性を明示した。
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