研究課題/領域番号 |
21K14191
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研究種目 |
若手研究
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配分区分 | 基金 |
審査区分 |
小区分21040:制御およびシステム工学関連
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研究機関 | 国立研究開発法人産業技術総合研究所 (2022) 国立情報学研究所 (2021) |
研究代表者 |
プルエクプラサート サシニー 国立研究開発法人産業技術総合研究所, 情報・人間工学領域, 研究員 (50814795)
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研究期間 (年度) |
2021-04-01 – 2024-03-31
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研究課題ステータス |
交付 (2022年度)
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配分額 *注記 |
2,860千円 (直接経費: 2,200千円、間接経費: 660千円)
2023年度: 780千円 (直接経費: 600千円、間接経費: 180千円)
2022年度: 1,170千円 (直接経費: 900千円、間接経費: 270千円)
2021年度: 910千円 (直接経費: 700千円、間接経費: 210千円)
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キーワード | symbolic control / motion planning / robotics / control theory / temporal logic |
研究開始時の研究の概要 |
This project aims to develop an efficient symbolic control framework for temporal logic specifications in semi-controlled environments. Symbolic control is a well-known approach to synthesizing a provably correct controller under complex specifications such as temporal logic, but this approach's main limitation is its scalability. We will develop a fast symbolic controller synthesis algorithm by performing samplings as guides for the symbolic abstraction. We will also study motion planning for nonholonomic robots based on the proposed framework.
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研究実績の概要 |
During this academic year, there were two main research directions of the project. 1. The first direction is to extend the developed symbolic control framework to control and monitor multi-agent systems, focusing on nonholonomic robots. 2. The second direction is to study a safe learning approach using discrete (symbolic) structures.
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現在までの達成度 (区分) |
現在までの達成度 (区分)
2: おおむね順調に進展している
理由
The project is progressing smoothly. We are extending the developed symbolic controller synthesis algorithm to multi-agent systems.
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今後の研究の推進方策 |
For the next academic year, which is the last phase of this research project, we will focus on extending the symbolic control algorithms to applications such as robots. We will perform simulations to demonstrate the effectiveness of the algorithms.
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