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Real-time scale-free control for autonomous mobile robot networks

Research Project

Project/Area Number 20K14766
Research Category

Grant-in-Aid for Early-Career Scientists

Allocation TypeMulti-year Fund
Review Section Basic Section 21040:Control and system engineering-related
Research InstitutionKyushu University

Principal Investigator

Yamamoto Kaoru  九州大学, システム情報科学研究院, 准教授 (20834104)

Project Period (FY) 2020-04-01 – 2023-03-31
Project Status Completed (Fiscal Year 2022)
Budget Amount *help
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2022: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2021: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2020: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Keywordsマルチエージェントシステム / 移動ロボット群 / スケーラビリティ / モデル予測制御 / 群制御 / 移動体制御 / スケールフリー / 群ロバスト性 / 群モデル / Algebraic connectivity / フォーメーション制御 / ネットワーク化制御 / 自律移動ロボット群 / スケールフリー性
Outline of Research at the Start

自律移動ロボット群の制御(より一般に,ネットワーク化制御)において,ネットワーク構成要素(ロボット)の参加あるいは離脱により構成要素数が変化すると,要素間相互作用のためネットワーク全体の制御性能が劣化あるいは不安定化する.これを,研究代表者の提案するスケールフリーネットワーク制御理論に基づいて,要素数変化による影響を陽に扱うことで解決することを目指す.さらに,本制御問題を,制御対象のモデルに基づいて未来を予測・最適化し,時々刻々の行動を決めるモデル予測制御として定式化し,リアルタイム手法に拡張する.これによって,構成要素数が変動する場合のネットワークを統一的に制御することが可能となる.

Outline of Final Research Achievements

The research aims at establishing robust distributed control strategies against the events of robots joining or leaving the swarm. During this research period, we derived some rigorous conditions for maintaining the swarm control performance in such events. We also proposed a swarm model inspired by collective behaviour in nature that achieves engineering goals, and developed a practical distributed control method using model predictive control. In particular, we verified its effectiveness in solving the navigation problem in unknown environments with obstacles.

Academic Significance and Societal Importance of the Research Achievements

多数の移動ロボット群を自律的に動かし,様々な社会的課題を解決しようとする試みが近年盛んに行われており,安全かつ高精度な自律分散制御の確立は喫緊の課題である.本研究においては,多数のロボットが近接して移動することで生じる相互作用による不安定化を防ぐこと,またその理論保証を与えることにその学術的意義および社会的意義がある.また,モデル予測制御により未知環境への適応性を向上させ,さらに,ロボットに搭載可能な小型コンピュータでも制御が実行可能であるよう計算負荷にも考慮しており,実用化を視野に入れた研究である.

Report

(4 results)
  • 2022 Annual Research Report   Final Research Report ( PDF )
  • 2021 Research-status Report
  • 2020 Research-status Report
  • Research Products

    (41 results)

All 2023 2022 2021 2020 Other

All Int'l Joint Research (1 results) Journal Article (23 results) (of which Int'l Joint Research: 3 results,  Open Access: 15 results,  Peer Reviewed: 17 results) Presentation (17 results) (of which Int'l Joint Research: 3 results,  Invited: 2 results)

  • [Int'l Joint Research] KU Leuven(ベルギー)

    • Related Report
      2022 Annual Research Report
  • [Journal Article] Optimization of Drone-Based Surface-Wave Seismic Surveys Using a Multiple Traveling Salesman Problem2023

    • Author(s)
      Hamasato Yohei、Sakaguchi Akinori、Tsuji Takeshi、Yamamoto Kaoru
    • Journal Title

      Journal of Robotics and Mechatronics

      Volume: 35 Issue: 2 Pages: 271-278

    • DOI

      10.20965/jrm.2023.p0271

    • ISSN
      0915-3942, 1883-8049
    • Year and Date
      2023-04-20
    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] 移動ロボット群における連結性2023

    • Author(s)
      山本 薫
    • Journal Title

      システム/制御/情報

      Volume: 67 Pages: 12-17

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Optimal Grid Layouts for Hybrid Offshore Assets in the North Sea under Different Market Designs2023

    • Author(s)
      Stephen Hardy, Andreas Themelis, Kaoru Yamamoto, Hakan Ergun, Dirk Van Hertem
    • Journal Title

      IEEE Transactions on Energy Markets, Policy and Regulation

      Volume: -

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] 弾性波探査のためのドローン群の巡回経路最適化2023

    • Author(s)
      濱里 洋平、坂口 聡範、山本 薫、辻 健
    • Journal Title

      システム/制御/情報

      Volume: 36

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] 車両群のナビゲーション: 群れのモデルとその制御2023

    • Author(s)
      山本 薫
    • Journal Title

      システム/制御/情報

      Volume: -

    • Related Report
      2022 Annual Research Report
    • Open Access
  • [Journal Article] Nonlinear Sampled-data Systems -- A lifting framework2023

    • Author(s)
      Yamamoto Yutaka、Yamamoto Kaoru
    • Journal Title

      IFAC-PapersOnLine

      Volume: -

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Deadlock avoidance for robot navigation with potential field method in an unknown environment2022

    • Author(s)
      久保 亮太、山本 薫、セメリス アンドレアス
    • Journal Title

      Proceedings of the Japan Joint Automatic Control Conference

      Volume: 65 Issue: 0 Pages: 8-13

    • DOI

      10.11511/jacc.65.0_8

    • Related Report
      2022 Annual Research Report
    • Open Access
  • [Journal Article] Smooth merging for autonomous vehicles by centralized control2022

    • Author(s)
      石井 貴悠、坂口 聡範、山本 薫
    • Journal Title

      Proceedings of the Japan Joint Automatic Control Conference

      Volume: 65 Issue: 0 Pages: 588-591

    • DOI

      10.11511/jacc.65.0_588

    • Related Report
      2022 Annual Research Report
    • Open Access
  • [Journal Article] A Novel Quadrotor With a 3-Axis Deformable Frame Using Tilting Motions of Parallel Link Modules Without Thrust Loss2022

    • Author(s)
      Sakaguchi Akinori、Yamamoto Kaoru
    • Journal Title

      IEEE Robotics and Automation Letters

      Volume: 7 Issue: 4 Pages: 9581-9588

    • DOI

      10.1109/lra.2022.3191195

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Flock navigation with dynamic hierarchy and subjective weights using nonlinear MPC2022

    • Author(s)
      A. Nag, S. Huang, A. Themelis and Yamamoto, Kaoru
    • Journal Title

      IEEE Conference on Control Technology and Applications

      Volume: - Pages: 1135-1140

    • DOI

      10.1109/ccta49430.2022.9966067

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Algebraic connectivity of layered path graphs under node deletion2022

    • Author(s)
      Yoshise Ryusei、Yamamoto Kaoru
    • Journal Title

      2022 IEEE 61st Conference on Decision and Control (CDC)

      Volume: - Pages: 975-980

    • DOI

      10.1109/cdc51059.2022.9992940

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Hypertracking and Hyperrejection: Control of Signals beyond the Nyquist Frequency2022

    • Author(s)
      Kaoru Yamamoto, Yamamoto Yamamoto, Masaaki Nagahara
    • Journal Title

      IEEE Transactions on Automatic Control

      Volume: - Issue: 10 Pages: 1-8

    • DOI

      10.1109/tac.2022.3230599

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Thermal-Electromagnetic Coupled Analysis Considering AC Losses in REBCO Windings at 65 K of 10 MW Fully-Superconducting Synchronous Generators for Electric Aircraft2022

    • Author(s)
      Sasa Hiromasa、Miura Shun、Miyazaki Hiroshi、Sasayama Teruyoshi、Yoshida Takashi、Yamamoto Kaoru、Iwakuma Masataka、Hase Yoshiji、Sasamori Yuichiro、Honda Hirokazu、Konno Msayuki、Izumi Teruo
    • Journal Title

      IEEE Transactions on Applied Superconductivity

      Volume: - Pages: 1-6

    • DOI

      10.1109/tasc.2022.3160660

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Algebraic connectivity of layered path graphs under node deletion2022

    • Author(s)
      Ryusei Yoshise, Kaoru Yamamoto
    • Journal Title

      arXiv preprint arXiv:2204.00356

      Volume: -

    • Related Report
      2021 Research-status Report
    • Open Access
  • [Journal Article] Flock navigation with dynamic hierarchy and subjective weights using nonlinear MPC2022

    • Author(s)
      Aneek Nag, Shuo Huang, Andreas Themelis, Kaoru Yamamoto
    • Journal Title

      arXiv preprint arXiv:2202.11331

      Volume: -

    • Related Report
      2021 Research-status Report
    • Open Access
  • [Journal Article] Towards Next Generation Mobility and Sustainable Society2021

    • Author(s)
      山本 薫
    • Journal Title

      Journal of The Society of Instrument and Control Engineers

      Volume: 60 Issue: 7 Pages: 509-513

    • DOI

      10.11499/sicejl.60.509

    • NAID

      130008067841

    • ISSN
      0453-4662, 1883-8170
    • Year and Date
      2021-07-10
    • Related Report
      2021 Research-status Report
    • Peer Reviewed
  • [Journal Article] Smooth obstacle avoidance for mobile robots using pure-pursuit algorithms2021

    • Author(s)
      築城 大知、坂口 聡範、越智 亮太、山本 薫
    • Journal Title

      Proceedings of the Japan Joint Automatic Control Conference

      Volume: 64 Issue: 0 Pages: 746-750

    • DOI

      10.11511/jacc.64.0_746

    • NAID

      130008128054

    • Related Report
      2021 Research-status Report
  • [Journal Article] Scale-invariant Controller Synthesis in Mass Chains2021

    • Author(s)
      Yamamoto Kaoru
    • Journal Title

      IFAC-PapersOnLine

      Volume: -

    • Related Report
      2020 Research-status Report
    • Peer Reviewed
  • [Journal Article] Synthesis of passive interconnections in mass chains achieving a scale-free performance2021

    • Author(s)
      Yamamoto Kaoru
    • Journal Title

      Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering

      Volume: - Issue: 9 Pages: 1709-1717

    • DOI

      10.1177/09596518211004303

    • Related Report
      2020 Research-status Report
    • Peer Reviewed
  • [Journal Article] Conceptual Design and Numerical Analysis of 10MW Fully Superconducting Synchronous Generators Installed With a Novel Casing Structure2020

    • Author(s)
      Komiya Masataka、Sugouchi Ryota、Sasa Hiromasa、Miura Shun、Iwakuma Masataka、Yoshida Takashi、Sasayama Teruyoshi、Yamamoto Kaoru、Tomioka Akira、Konno Masayuki、Izumi Teruo
    • Journal Title

      IEEE Transactions on Applied Superconductivity

      Volume: 30 Issue: 4 Pages: 1-7

    • DOI

      10.1109/tasc.2020.2989746

    • Related Report
      2020 Research-status Report
    • Peer Reviewed
  • [Journal Article] Signal processing via sampled-data control theory2020

    • Author(s)
      Yamamoto Yutaka、Yamamoto Kaoru、Nagahara Masaaki、Khargonekar Pramod P
    • Journal Title

      Impact

      Volume: 2020 Issue: 2 Pages: 6-8

    • DOI

      10.21820/23987073.2020.2.6

    • Related Report
      2020 Research-status Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Conceptual Design and Electromagnetic Analysis of 2 MW Fully-Superconducting Synchronous Motors with Superconducting Magnetic Shields for Turbo-electric Propulsion System2020

    • Author(s)
      Ryota Sugouchi, Masataka Komiya, Shun Miura, Masataka Iwakuma, Koichi Yoshida, Teruyoshi Sasayama, Takashi Yoshida, Kaoru Yamamoto, Yuichiro Sasamori, Hirokazu Honda, Yoshiji Hase, Masao Shuto, Masayuki Konno, Teruo Izumi
    • Journal Title

      IEEE Transactions on Applied Superconductivity

      Volume: 30 Issue: 4 Pages: 3601905-3601905

    • DOI

      10.1109/tasc.2020.2974705

    • Related Report
      2020 Research-status Report
    • Peer Reviewed
  • [Journal Article] Conceptual Design of Superconducting Induction Motors using REBa2Cu3Oy Superconducting tapes for Electric Aircraft2020

    • Author(s)
      Koichiro Ozaki, Yuma Doi, Koichi Yoshida, Shun Miura, Teruyoshi Sasayama, Takashi Yoshida, Kaoru Yamamoto, Masataka Iwakuma, Akifumi Kawagoe, Akira Tomioka, Masayuki Konno, Teruo Izumi
    • Journal Title

      IEEE Transactions on Applied Superconductivity

      Volume: 30 Issue: 4 Pages: 3602605-3602605

    • DOI

      10.1109/tasc.2020.2971671

    • Related Report
      2020 Research-status Report
    • Peer Reviewed
  • [Presentation] 車両群のナビゲーション -- 群れのモデルとその制御2023

    • Author(s)
      山本 薫
    • Organizer
      第67回 システム制御情報学会 研究発表講演会
    • Related Report
      2022 Annual Research Report
    • Invited
  • [Presentation] アクティブマスダンパを用いた床振動抑制のための2自由度制御2023

    • Author(s)
      石井 球道、川邊 武俊、今村 翼、山本 薫、合戸 優佑
    • Organizer
      計測自動制御学会 第10回 制御部門マルチシンポジウム
    • Related Report
      2022 Annual Research Report
  • [Presentation] フィードバック・フィードフォワード補償器の同時最適化設計による床振動制御2023

    • Author(s)
      合戸 優佑、川邊 武俊、今村 翼、山本 薫、石井 球道
    • Organizer
      計測自動制御学会 第10回 制御部門マルチシンポジウム
    • Related Report
      2022 Annual Research Report
  • [Presentation] Nonlinear Sampled-data Systems -- A lifting framework2023

    • Author(s)
      Yamamoto Yutaka、Yamamoto Kaoru
    • Organizer
      The 22nd World Congress of the International Federation of Automatic Control
    • Related Report
      2022 Annual Research Report
  • [Presentation] 人工ポテンシャル法を用いた未知環境での移動ロボットナビゲーションにおける停留回避2022

    • Author(s)
      久保 亮太、山本 薫、セメリス アンドレアス
    • Organizer
      第65回自動制御連合講演会
    • Related Report
      2022 Annual Research Report
  • [Presentation] 集中制御による自動運転車両合流時の挙動円滑化2022

    • Author(s)
      石井 貴悠、坂口 聡範、山本 薫
    • Organizer
      第65回自動制御連合講演会
    • Related Report
      2022 Annual Research Report
  • [Presentation] Flock navigation with dynamic hierarchy and subjective weights using nonlinear MPC2022

    • Author(s)
      Nag Aneek、Huang Shuo、Themelis Andreas、Yamamoto Kaoru
    • Organizer
      2022 IEEE Conference on Control Technology and Applications (CCTA)
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Algebraic connectivity of layered path graphs under node deletion2022

    • Author(s)
      Yoshise Ryusei、Yamamoto Kaoru
    • Organizer
      2022 IEEE 61st Conference on Decision and Control (CDC)
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 弾性波探査のためのドローン群の巡回経路最適化2022

    • Author(s)
      濱里 洋平、山本 薫、辻 健
    • Organizer
      第66回 システム制御情報学会 研究発表講演会
    • Related Report
      2022 Annual Research Report
  • [Presentation] Controller synthesis for an arbitrary length of mass chain2022

    • Author(s)
      Yamamoto Kaoru
    • Organizer
      25th International Symposium on Mathematical Theory of Networks and Systems (MTNS 2022)
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] 固定双翼を有するドローンの開発2022

    • Author(s)
      吉永 峻佑、坂口 聡範、山本 薫
    • Organizer
      第41回計測自動制御学会九州支部 学術講演会
    • Related Report
      2022 Annual Research Report
  • [Presentation] Z型非対称フレームを有するドローンの開発2022

    • Author(s)
      安部 和樹、坂口 聡範、山本 薫
    • Organizer
      第41回計測自動制御学会九州支部 学術講演会
    • Related Report
      2022 Annual Research Report
  • [Presentation] A Novel Quadrotor with a 3-axis Deformable Frame using Tilting Motions of Parallel Link Modules without Thrust Loss2022

    • Author(s)
      Sakaguchi Akinori、Yamamoto Kaoru
    • Organizer
      The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)
    • Related Report
      2022 Annual Research Report
  • [Presentation] 平行リンクモジュールを用いた3軸変形フレームを有するドローンの提案2022

    • Author(s)
      坂口 聡範、山本 薫
    • Organizer
      第40回日本ロボット学会学術講演会
    • Related Report
      2022 Annual Research Report
  • [Presentation] Pure pursuit法を用いた移動ロボットにおける滑らかな障害物回避手法の提案2021

    • Author(s)
      築城 大知, 坂口 聡範, 越智 亮太, 山本 薫
    • Organizer
      第64回自動制御連合講演会
    • Related Report
      2021 Research-status Report
  • [Presentation] 複数クアッドコプター近接飛行時の乱流に基づく相互干渉分析を目的とするPIV計測2021

    • Author(s)
      上村凌雅, 坂口聡範, 越智亮太, 山本薫
    • Organizer
      第40回計測自動制御学会九州支部学術講演会
    • Related Report
      2021 Research-status Report
  • [Presentation] Pure pursuit法を用いた移動ロボットにおける滑らかな障害物回避手法の提案2021

    • Author(s)
      築城大知, 坂口聡範, 越智亮太, 山本薫
    • Organizer
      第40回計測自動制御学会九州支部学術講演会
    • Related Report
      2021 Research-status Report

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Published: 2020-04-28   Modified: 2024-01-30  

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