自己組織群ロボット分散制御のための高信頼グループ通信ミドルウェアの構築

• 研究課題/領域番号: 18680007
• 研究種目: 若手研究(A)
• 配分区分: 補助金
• 研究分野: 計算機システム・ネットワーク
• 研究機関: 北陸先端科学技術大学院大学
• 研究代表者: デファゴ クサビエ (DEFAGO Xavier) 北陸先端科学技術大学院大学, 情報科学研究科, 准教授 (70333557)
• 研究期間 (年度): 2006 – 2008
• 研究課題ステータス: 完了 (2008年度)
• 配分額: 28,080千円 (直接経費: 21,600千円、間接経費: 6,480千円); 2008年度: 8,450千円 (直接経費: 6,500千円、間接経費: 1,950千円); 2007年度: 8,450千円 (直接経費: 6,500千円、間接経費: 1,950千円); 2006年度: 11,180千円 (直接経費: 8,600千円、間接経費: 2,580千円)
• キーワード: 分散システム / 耐故障性グループ通信 / 群ロボットアドホック通信 / 分散アルゴリズム / 自己安定 / 耐故障性 / グループ通信 / 群ロボット / アドホック通信

研究概要

The main results of the research project are as follows;
- We have designed and developed a mobility platform to avoid collisions between robots moving independently.
- We have identified several coordination problems for robot self-organization and proposed robust algorithms to solve them.
- We have found several impossibility results and proposed for the first time to use randomized algorithms for robot cooperation in the presence of faulty robots (crash and Byzantine).

研究成果

• [雑誌論文] Using eventually consistent compasses to gather memory-less mobile robots with limited visibility. (2009)
  • 著者名/発表者名: S.Souissi, X.Defago, M.Yamashita
  • 雑誌名: ACM Trans. Autonomous and Adaptive Systems 4(1)
  • 査読あり
• [雑誌論文] Fault-tolerant Flocking of Mobile Robots with whole Formation Rotation (2009)
  • 著者名/発表者名: Y.Yang, S.Souissi, X.Defago, M.Takizawa
  • 雑誌名: Proc. 21st Int. Conf. Adv. Inform. Netw. & Appl. ページ: 830-837
  • 査読あり
• [雑誌論文] Using eventually consistent compasses to gather memory-less mobile robots with limited visibility (2009)
  • 著者名/発表者名: Samia Souissi, Xavier Defago, Masafumi Yamashita
  • 雑誌名: ACM Transactions on Autonomous and Adaptive Systems 4
  • 査読あり
• [雑誌論文] Non-uniform circle formation algorithm for oblivious mobile robots with convergence toward uniformity. (2008)
  • 著者名/発表者名: X.Defago, S.Souissi
  • 雑誌名: Theoretical Computer Science 396(1-3) ページ: 97-112
  • NAID: 120000861676
  • 査読あり
• [雑誌論文] Dynamic Scheduling Real-Time Task Using Primary-Backup Overloading Strategy for Multiprocessor Systems. (2008)
  • 著者名/発表者名: W.Sun, C.Yu, X.Defago, Y.Inoguchi
  • 雑誌名: IEICE Trans. on Inf. and Syst. 91-D(3) ページ: 796-806
  • NAID: 10026802255
  • 査読あり
• [雑誌論文] Fault-Tolerant Flocking in a k-Bounded Asynchronous System. (2008)
  • 著者名/発表者名: S.Souissi, Y.Yang, X.Defago
  • 雑誌名: Proc. 12th Int. Conf. Principles of Distributed Systems LNCS 5401 ページ: 145-163
  • NAID: 110007110872
  • 査読あり
• [雑誌論文] Non-uniform circle formation algorithm for oblivious mobile robots with convergence toward uniformity (2008)
  • 著者名/発表者名: Xavier Defago, Samia Souissi
  • 雑誌名: Theoretical Computer Science 396 ページ: 97-112
  • NAID: 120000861676
  • 査読あり
• [雑誌論文] Dynamic scheduling real-time task using primary-backup overloading strategy for multiprocessor systems (2008)
  • 著者名/発表者名: Wei Sun, Chen Yu, Xavier Defago, Yasushi Inoguchi
  • 雑誌名: IEICE Transactions on Information & Systems 91-D ページ: 796-806
  • NAID: 10026802255
  • 査読あり
• [雑誌論文] Fault-tolerant flocking in a k-bounded asynchronous system (2008)
  • 著者名/発表者名: Samia Souissi, Yan Yang, Xavier Defago
  • 雑誌名: Principles of Distributed Systems, 12th International Conference, OPODIS 2008 LNCS 5401 ページ: 145-163
  • NAID: 110007110872
  • 査読あり
• [雑誌論文] Dynamic scheduling real-time task using primary-backup overloading strategy for multiprocessor systems (2008)
  • 著者名/発表者名: Wei Sun, Chen Yu, Xavier Defago, Yasushi Inoguchi
  • 雑誌名: IEICE Trans. Inf. & Syst. E91-D,no.3 ページ: 796-806
  • NAID: 10026802255
  • 査読あり
• [雑誌論文] Collision Prevention Platform for a Dynamic Group of Asynchronous Cooperative Mobile Robots. (2007)
  • 著者名/発表者名: R.Yared, X.Defago, J.Iguchi, M.Wiesmann
  • 雑誌名: J. Networks 2(4) ページ: 28-39
  • NAID: 120001009648
  • 査読あり
• [雑誌論文] Collision prevention using group communication for asynchronous cooperative mobile robots. (2007)
  • 著者名/発表者名: R.Yared, X.Defago, M.Wiesmann
  • 雑誌名: Proc. 21st Int. Conf. Adv. Inform. Netw. & Appl. ページ: 244-249
  • NAID: 110006386794
  • 査読あり
• [雑誌論文] Anonymous Stabilizing Leader Election using a Network Sequencer. (2007)
  • 著者名/発表者名: M.Wiesmann, X.Defago.
  • 雑誌名: Proc. 21st Int. Conf. Adv. Inform. Netw. & Appl. ページ: 673-678
  • NAID: 110004847504
  • 査読あり
• [雑誌論文] Robust self-deployment for a swarm of autonomous mobile robots with limited visibility range. (2007)
  • 著者名/発表者名: G.Lee, N.Y.Chong, X.Defago.
  • 雑誌名: Proc. 16th Intl. Symp. on Robot and Human Interactive Commmunication ページ: 925-930
  • NAID: 120007005670
  • 査読あり
• [雑誌論文] Hybrid overloading and stochastic analysis for redundant real-time multiprocessor systems. (2007)
  • 著者名/発表者名: W.Sun, Y.Zhang, C.Yu, X.Defago, Y.Inoguchi
  • 雑誌名: Proc. 26th Intl. Symp. Reliable Distributed Systems ページ: 265-274
  • NAID: 120007005665
  • 査読あり
• [雑誌論文] Colhsion prevention platform for a dynamic group of asynchronous cooperative mobile robots (2007)
  • 著者名/発表者名: Rami Yared, Xavier Defago, Julien Iguchi-Cartigny, M. Wiesmann
  • 雑誌名: Journal of Networks 2・4 ページ: 28-39
  • 査読あり
• [雑誌論文] Collision prevention using group communication for asynchronous cooperative mobile robots (2007)
  • 著者名/発表者名: Rami Yared, Xavier Defago, Matthias Wiesmann
  • 雑誌名: Proc. 21st IEEE Conf. on Advanced Information Networking and Applications (AINA-07) ページ: 244-249
  • NAID: 110006386794
  • 査読あり
• [雑誌論文] Anonymous stabilizing leader election using a network sequencer (2007)
  • 著者名/発表者名: Matthias Wiesmann、Xavier Defago
  • 雑誌名: Proc. 21st IEEE Conf. on Advanced Information Networking and Applications (AINA-07) ページ: 673-678
  • NAID: 110004847504
  • 査読あり
• [雑誌論文] Hybrid overloading and stochastic analysis for redundant real-time multiprocessor systems (2007)
  • 著者名/発表者名: Wei Sun, Yuanyuan Zhang, Chen Yu, Xavier Defago, Y. Inoguchi
  • 雑誌名: Proc. 26th IEEE Symp. on Reliable Distributed Systems (SRDS'07) ページ: 265-274
  • NAID: 120007005665
  • 査読あり
• [雑誌論文] Gathering two stateless mobile robots using very inaccurate compasses in finite time (2007)
  • 著者名/発表者名: Masafumi Yamashita, Samia Souissi, Xavier Defago
  • 雑誌名: Proc. 1st Intl. Conference on Robot Communication ahd Coordination (ROBOCOM) ページ: 6-6
  • 査読あり
• [雑誌論文] Robst self-deployment for a swarm of autonomous mobile robots with limited visibility range (2007)
  • 著者名/発表者名: Geunho Lee, Nak Young Chong, Xavier Defago
  • 雑誌名: Proc. 16th Intl. Symp. on Robot and human Interactive Communication (ROMAN) ページ: 925-930
  • 査読あり
• [雑誌論文] Locality-preserving distributed path reservation protocol for asynchronous cooperative mobile robots (2007)
  • 著者名/発表者名: Rami Yared, Julien Cartigny, Xavier Defago, Matthias Wiesmann
  • 雑誌名: Proc. 8th Intl. Symp. on Autonomous Decentralized Systems(ISADS'2007) ページ: 188-195
  • NAID: 110004840536
• [雑誌論文] Collision prevention platform for a dynamic group of asynchronous cooperative mobile robots (2007)
  • 著者名/発表者名: Rami Yared, Xavier, Defago, Julien Iguchi-Cartigny, Matthias Wiesmann
  • 雑誌名: Journal of Networks 2・4 ページ: 28-39
  • NAID: 120001009648
• [雑誌論文] Collision prevention using group communication for asynchronous cooperative mobile robots (2007)
  • 著者名/発表者名: Rami Yared, Xavier Defago, Matthias Wiesmann
  • 雑誌名: Proc. 21st Intl Conf. on Advanced Information Networking and Applications(AINA-07) ページ: 244-249
  • NAID: 110006386794
• [雑誌論文] Fault-Tolerant and Self-stabilizing Mobile Robots Gathering. (2006)
  • 著者名/発表者名: X.Defago, M.Gradinariu, S.Messika, P.Raipin
  • 雑誌名: Proc. 20th Int. Symp. Distributed Computing LNCS 4167 ページ: 46-60
  • 査読あり
• [雑誌論文] End-to-end consensus using end-to-end channels. (2006)
  • 著者名/発表者名: M.Wiesmann, X.Defago
  • 雑誌名: Proc. 12th Intl. Symp. Pacific-Rim Dependable Computing ページ: 341-350
  • 査読あり
• [雑誌論文] Gathering Asynchronous Mobile Robots with Inaccurate Compasses. (2006)
  • 著者名/発表者名: S.Souissi, X.Defago, M.Yamashita.
  • 雑誌名: Proc. 10th Int. Conf. Principles of Distributed Systems LNCS 4305 ページ: 333-349
  • 査読あり
• [雑誌論文] Using eventually consistent compasses to gather oblivious mobile robots with limited visibility (2006)
  • 著者名/発表者名: S.Souissi, X.Defago, M.Yamashita
  • 雑誌名: Proc. 8th Intl. Symp. on Stabilization, Safety, Security of Distrib. Sys. LNCS 4280 ページ: 471-487
  • 査読あり
• [雑誌論文] Fault-tolerant and self-stabilizing mobile robots gathering (2006)
  • 著者名/発表者名: Xavier Defago, Maria Gradinariu, Stephane Messika, Philippe Raipin-Parvedy
  • 雑誌名: Proc. 20th Intl. Symp. on Distributed Computing(DISC2006) LNCS4167 ページ: 46-60
• [雑誌論文] Using eventually consistent compasses to gather oblivious mobile robots with limited visibility (2006)
  • 著者名/発表者名: Samia Souissi, Xavier Defago, Masafumi Yamashita
  • 雑誌名: Proc. 8th Intl. Symp. on Stabilization, Safety, and Security of Distributed Systems(SSS2006) LNCS4280 ページ: 471-487
• [雑誌論文] Gathering asynchronous mobile robots with inaccurate compasses (2006)
  • 著者名/発表者名: Samia Souissi, Xavier Defago, Masafumi Yamashita
  • 雑誌名: Proc. 10th Intl. Conf. on Principles of Distributed Systems(OPODIS2006) LNCS4305 ページ: 333-349
• [雑誌論文] Fault-tolerant flocking in a k-bounded semi-synchronous system with flock rotation
  • 著者名/発表者名: Yan Yang, Samia Souissi, Xavier Defago, Makoto Takizawa
  • 雑誌名: IEEE 23rd Intl. Conf. on Adv. Inform. Networking and Applications (印刷中)
  • 査読あり
• [学会発表] モバイルロボット間における先読み機能を有した経路予約システムの提案 (2007)
  • 著者名/発表者名: 東原大記, Rami Yared, Xavier Defago
  • 学会等名: 第15回マルチメディア通信と分散処理ワークショップ
  • 発表場所: 石川県加賀市
  • 年月日: 2007-11-02
• [学会発表] Gathering two stateless mobile robots using very inaccurate compasses in finite time. Proc. Int. Conf. on Robot Communication and Coordination (2007)
  • 著者名/発表者名: M.Yamashita, S.Souissi, X.Defago
  • 学会等名: ROBOCOM
  • 発表場所: Greece
  • 年月日: 2007-10-16
• [学会発表] Fault-Tolerant Group Communication Cooperative Mobile Robots (invited talk) (2007)
  • 著者名/発表者名: Xavier Defago
  • 学会等名: Japan-Vietnam Workshop on Software Engineering 2007 (JVSE'07)
  • 発表場所: Hanoi, Vietnam
  • 年月日: 2007-09-27
• [学会発表] Locality-preserving distributed path reservation protocol for asynchronous cooperative mobile robots (2007)
  • 著者名/発表者名: R.Yared, J.Cartigny, X.Defago, M.Wiesmann
  • 学会等名: Proc. 8th Intl. Symp. on Autonomous Decentralized Systems(p.188-195)
  • 発表場所: USA
  • 年月日: 2007-03-22
• [図書] In Encyclopedia of Algorithms, Part 1(2008. Springer.) (2008)
  • 著者名/発表者名: X.Defago
  • 総ページ数: 5
  • 出版者: Atomic Broadcast
• [図書] In Encyclopedia of Algorithms, Part 3(2008. Springer.) (2008)
  • 著者名/発表者名: X.Defago, Causal Order, Logical Clocks
  • 総ページ数: 5
  • 出版者: State Machine Replication