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Development of Co-operative Distributed Outdoor Type Lawn Mowing System by Dynamical Task Allocation of Small-Size Robots

Research Project

Project/Area Number 15580229
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Agricultural information engineering
Research InstitutionFuture University-Hakodate

Principal Investigator

MIKAMI Sadayoshi  Future University - Hakodate, Systems information Sciences, Professor, システム情報科学部, 教授 (50229655)

Co-Investigator(Kenkyū-buntansha) OSAWA Eiichi  Future University - Hakodate, Systems information Sciences, Professor, システム情報科学部, 教授 (60325884)
SUZUKI Keiji  Future University-Hakodate, Systems information Sciences, Professor, システム情報科学部, 教授 (10250482)
秋田 純一  公立はこだて未来大学, システム情報科学部, 講師 (10303265)
Project Period (FY) 2003 – 2004
Project Status Completed (Fiscal Year 2004)
Budget Amount *help
¥3,700,000 (Direct Cost: ¥3,700,000)
Fiscal Year 2004: ¥1,400,000 (Direct Cost: ¥1,400,000)
Fiscal Year 2003: ¥2,300,000 (Direct Cost: ¥2,300,000)
KeywordsAgricultural Robot / Autonomous Mobile Robot / Cooperative Control / Multi-Agents / Charging Station / GIS / GPS / Outdoor Robot
Research Abstract

This project is to develop a lawn-mowing system by a group of small, cheap, and not so much precisely designed robots. The purpose is to realize reliable, efficient, and low-cost task performing system for a wide病rea outdoor task. In this research, we developed an autonomic charging system, which consists of a charging house with automatic shutter and an infrared driven homing system. This is the basis for giving autonomy for a group of robots. To allocate appropriate tasks to each robot, we developed an on-line task allocation system that performs allocation during communication by a dynamic communication channel connected by ad-hoc network. The design and tuning of the algorithm is based on an agent platform simulator by OAA architecture. The on-line connection and communication in ad-hoc network is realized by a transport protocol based on an SOAP message, which realizes rich communication involving status of machines and even for communication. Finally, we could develop an automatic fail-recovery algorithm, which is important issue of the outdoor robot designed at low cost and imprecise. The method is based on a trial-and-error recovery, with the acquisition of experience for successful escape, which then allows the robot to find an efficient way to escape for a similar situation of stuck.

Report

(3 results)
  • 2004 Annual Research Report   Final Research Report Summary
  • 2003 Annual Research Report
  • Research Products

    (19 results)

All 2004 2003 Other

All Journal Article (14 results) Publications (5 results)

  • [Journal Article] 強化学習による移動ロボットの脱出戦略獲得2004

    • Author(s)
      今 佑介
    • Journal Title

      日本機械学会ロボティクス・メカトロニクス講演会'04講演論文集

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Design And Implementation Of An Autonomous Cooperative Robot Simulator Using The OAA Agent Platform2004

    • Author(s)
      Kota Ishizaki
    • Journal Title

      Proceedings of 8th World Multiconference on Systems, Cybernetics and Informatics Vol.2

      Pages: 87-92

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Annual Research Report 2004 Final Research Report Summary
  • [Journal Article] 自律移動ロボットの脱出行動戦略の適応学習2004

    • Author(s)
      今 佑介
    • Journal Title

      日本機械学会2004年度年次大会講演論文集 Vol.5

      Pages: 291-292

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Annual Research Report 2004 Final Research Report Summary
  • [Journal Article] Development of cooperative small mowing robots with charging station2004

    • Author(s)
      Keiji Suzuki
    • Journal Title

      Proc.of The 4th International Conference on Advanced Mechatronics

      Pages: 617-622

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Annual Research Report 2004 Final Research Report Summary
  • [Journal Article] Acquisition of Escaping Strategy for Autonomous Robots Using Reinforcement Learning2004

    • Author(s)
      Yusuke Kon, et al.
    • Journal Title

      JSME Robomec 2004 Conferece 2A1-L1-31

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Adaptive Learning of Escaping Actions for Autonomous Mobile Robots2004

    • Author(s)
      Yusuke Kon, et al.
    • Journal Title

      JSME 2004 Annual Meeting Vol.5

      Pages: 291-292

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Design And Implementation Of An Autonomous Cooperative Robot Simulator Using The OAAAgent Platform2004

    • Author(s)
      Kota Ishizaki, et al.
    • Journal Title

      Proceedings of 8th World Multiconference on Systems, Cybernetics and Informatics Vol.2

      Pages: 87-92

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Development of cooperative small mowing robots with charging station2004

    • Author(s)
      Keiji Suzuki, et al.
    • Journal Title

      Proc. of The 4th International Conference on Advanced Mechatronics

      Pages: 617-622

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] 強化学習による自律ロボットの脱出行動ストラテジーの獲得2004

    • Author(s)
      今 佑介
    • Journal Title

      日本機械学会ロボティクス・メカトロニクス講演会'04講演論文集

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 小型芝刈りロボット群の開発とタスク遂行方式の検討2003

    • Author(s)
      鈴木 恵二
    • Journal Title

      日本機械学会ロボティクス・メカトロニクス講演会'03講演論文集

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Annual Research Report 2004 Final Research Report Summary
  • [Journal Article] エージェントプラットフォームOAAを用いた「自律協調ロボットシミュレータの実装と評価2003

    • Author(s)
      石崎 康太
    • Journal Title

      第13回インテリジェント・システム・シンポジウム講演論文集

      Pages: 172-176

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Development of cooperative small mowing robots2003

    • Author(s)
      Keiji Suzuki
    • Journal Title

      The 5th IEEE Int.Symp.on Computational Intelligence in Robotics and Automation Vol.3

      Pages: 1498-1502

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Annual Research Report 2004 Final Research Report Summary
  • [Journal Article] Development and Design of Small Lawn-Mowing Robots and Its Task Allocation Methods2003

    • Author(s)
      Keiji Suzuki, et al.
    • Journal Title

      JSME Robomec 2003 Conference 1P1-1F-G6

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Development of cooperative small mowing robots2003

    • Author(s)
      Keiji Suzuki, et al.
    • Journal Title

      The 5th IEEE Int. Symp. on Computational Intelligence in Robotics and Automation Vol.3

      Pages: 1498-1502

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Publications] 鈴木 恵二: "小型芝刈りロボット群の開発とタスク遂行方式の検討"日本機械学会ロボティクス・メカトロニクス講演会'03講演論文集. 1P1-1F-G6 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] 石崎 康太: "エージェントプラットフォームOAAを用いた「自律協調ロボットシミュレータの実装と評価"第13回インテリジェント・システム・シンポジウム講演論文集. 172-176 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] Keiji Suzuki: "Development of cooperative small mowing robots"The 5th IEEE Int. Symp. on Computational Intelligence in Robotics and Automation. Vol.3. 1498-1502 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] 今 佑介: "強化学習による移動ロボットの脱出戦略獲得"日本機械学会ロボティクス・メカトロニクス講演会'04講演論文集. (2004)

    • Related Report
      2003 Annual Research Report
  • [Publications] Kota Ishizaki: "Design And Implementation Of An Autonomous Cooperative Robot Simulator Using The OAA Agent Platform"Proceedings of 8th World Multiconference on Systems, Cybernetics and Informatics. (2004)

    • Related Report
      2003 Annual Research Report

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Published: 2003-04-01   Modified: 2016-04-21  

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