2023 Fiscal Year Final Research Report
Flexible navigation of swarms based on the cluster-wise strategy
| Project/Area Number |
21K14183
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| Research Category |
Grant-in-Aid for Early-Career Scientists
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| Allocation Type | Multi-year Fund |
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| Review Section |
Basic Section 21040:Control and system engineering-related
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| Research Institution | Osaka University |
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Principal Investigator |
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| Project Period (FY) |
2021-04-01 – 2024-03-31
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| Keywords | 自律分散 / 群ロボットシステム / ヘテロ性 |
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| Outline of Final Research Achievements |
In this study, we propose and validate the effectiveness of a simple and versatile method, what we call the cluster-wise strategy, for navigating swarm robots. Specifically, we propose the introduction of two types of robots, namely the navigator robots and the worker robots, and present a behavior model for the worker robots, as well as a controller for the navigator robot, to indirectly navigate the worker robots to a predetermined destination. Through simulations, we demonstrate the guidance of a group of worker robots to one or two destinations.
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| Free Research Field |
制御工学
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| Academic Significance and Societal Importance of the Research Achievements |
本研究で提示しているコントローラは，ロボットの数や搭載デバイスに依存しないため，汎用性の高い群ロボットナビゲーション手法だと考えられる．そのため，ロボットに機械的な制約が多く加わる状況(例えば，月面や災害現場など)における群ナビゲーションへの応用が期待される．
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