Hierarchical Cooperative Control of Human-Mobile Sensor Networks for Environmental Monitoring

2017 Fiscal Year Final Research Report

• Project/Area Number: 15H04019
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Control engineering/System engineering
• Research Institution: Tokyo Institute of Technology
• Principal Investigator: Fujita Masayuki 東京工業大学, 工学院, 教授 (90181370)
• Co-Investigator(Kenkyū-buntansha): 村尾 俊幸 金沢工業大学, 工学部, 講師 (00447038) ; 畑中 健志 東京工業大学, 工学院, 准教授 (10452012) ; 伊吹 竜也 東京工業大学, 工学院, 助教 (30725023) ; 向井 正和 工学院大学, 工学部, 准教授 (50404059) ; 河合 宏之 金沢工業大学, 工学部, 准教授 (70410298) ; 河合 康典 石川工業高等専門学校, その他部局等, 准教授 (90413765)
• Research Collaborator: Atman MADE WIDHI SURYA ; Yamauchi JUNYA ; Nguyen TAM ; Koyama RYO
• Project Period (FY): 2015-04-01 – 2018-03-31
• Keywords: 制御工学 / 環境モニタリング / 人間・モバイルセンサネットワーク / 協調制御 / 階層制御

Outline of Final Research Achievements

This project aimed at (1)proposing a theoretical framework in which motion and human decision process are fused by passivity, (2)analyzing human passivity from data obtained by experimental systems, (3)proposing online optimization system of networks for a hierarchical distributed cooperative control system of human-mobile sensor network. On topic (1): We succeeded in deriving theoretical results. The results were presented at international conferences and published in international journals. On topic (2): We built a remote experimental system connecting Tokyo and Kanazawa, and analyzed human passivity. The result is published in an international magazine as a special issue. On topic (3): We formulated mixed temporal logic model predictive control problem as a mixed integer programming problem, and succeeded in automatic generation of online optimization codes.

Free Research Field

システム制御