A Theoretical Model for Autonomous Mobile Robots based on CPS and Limitations of its Computation

2020 Fiscal Year Final Research Report

• Project/Area Number: 17K00019
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Theory of informatics
• Research Institution: Hosei University
• Principal Investigator: Wada Koichi 法政大学, 理工学部, 教授 (90167198)
• Co-Investigator(Kenkyū-buntansha): DEFAGO Xavier 東京工業大学, 情報理工学院, 教授 (70333557)
• Project Period (FY): 2017-04-01 – 2021-03-31
• Keywords: 自律分散ロボット / CPS / 非同期度 / 集合問題 / 自己安定 / ライト

Outline of Final Research Achievements

We construct a theoretical model based on CPS for autonomous mobile robots and obtain several results about the computational power of autonomous mobile robots as follows: (1) A new model for mobile robots including the concept of CPS is proposed and an online routing algorithm for mobile robots is developed. (2) We give fault-tolerant gathering algorithms on an LCM robot model. (3) We clarify the computational power of mobile robots with lights. (4) We solve gathering problem of myopic mobile robots on ring-shaped networks, which can behave in completely asynchronous fashion.

Free Research Field

並列分散アルゴリズム

Academic Significance and Societal Importance of the Research Achievements

CPSに基づいた自律分散ロボットに対する理論的モデルの構築とその上での自律分散ロボット群の計算能力の解明は,分散情報学における分散アルゴリズムの進展に寄与するところが大きい．また，CPSに基づいた自律分散ロボット群の理論的モデルはより現実的な条件を取り入れているので，実機開発における評価基準となりえる可能性が高い．特に完全非同期で動作する制限視野をもつライト付きロボット群に対するアルゴリズムはその一例である．