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2012 Fiscal Year Final Research Report

Developing plastic swarm intelligent systems based on swarm robotics

Research Project

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Project/Area Number 22500175
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Perception information processing/Intelligent robotics
Research InstitutionHiroshima University

Principal Investigator

OHKURA Kazuhiro  広島大学, 大学院・工学研究院, 教授 (40252788)

Co-Investigator(Kenkyū-buntansha) YASUDA Toshiyuki  広島大学, 大学院・工学研究院, 助教 (60435451)
Project Period (FY) 2010 – 2012
Keywordsスワームロボティクス / 自己組織化 / 構造進化型人工神経回路網
Research Abstract

Recently, the research on behavior control of groups of robots called Swarm Robotics (SR) has come to take a great deal of attention. However, the conventional approach to the swarm behavior control based on self-organizing principle can solve only simple tasks such as "to be set to fixed-point" or "away from each other". In order to overcome this limitation and solve more complex tasks to expand new application fields, a new theory of building a plastic swarm intelligent system is built based on MBEANN, which is a kind of Topology and Weight Evolving Artificial Neural Network developed by our research group.

  • Research Products

    (52 results)

All 2013 2012 2011 2010

All Journal Article (33 results) (of which Peer Reviewed: 33 results) Presentation (14 results) Book (5 results)

  • [Journal Article] Self-Organized Task Allocation between Reinforcement Learning Robots and a Human Partner2012

    • Author(s)
      Toshiyuki Yasuda, Soichiro Nomura and Kazuhiro Ohkura
    • Journal Title

      International Journal of Advancements in Computing Technology

      Volume: 22 Pages: 230-238

    • Peer Reviewed
  • [Journal Article] クラスタリングに基づくスワームロボットシステムにおける群協調行動分析のための一手法2012

    • Author(s)
      大倉和博, 保田俊行, 松村嘉之, 森下力
    • Journal Title

      日本機械学会論文集C編

      Volume: 78 Pages: 3529-3540

    • Peer Reviewed
  • [Journal Article] ニューラルネットワークを用いた強化学習のためのネットワークパラメータ設定法2012

    • Author(s)
      山田和明, 大倉和博
    • Journal Title

      日本機械学会論文集C編

      Volume: 78 Pages: 2950-2961

    • Peer Reviewed
  • [Journal Article] グリッドタスクスケジューリングアルゴリズム R3Q の不均一な中粒度タスクへの適用2012

    • Author(s)
      大礒正嗣, 松村嘉之, 保田俊行, 大倉和博
    • Journal Title

      日本機械学会論文集 C 編

      Volume: 78 Pages: 2144-2154

    • Peer Reviewed
  • [Journal Article] An Incremental Approach to an Evolutionary Robotic Swarm2012

    • Author(s)
      Takaaki Kadota, Toshiyuki Yasuda, Yoshiyuki Matsumura and Kazuhiro Ohkura
    • Journal Title

      Proceedings of 2012 IEEE/SICE International Symposium on System Integration

      Pages: 458-463

    • Peer Reviewed
  • [Journal Article] Validation of Robustness of Reinforcement Learning Robots Cooperating with a Human2012

    • Author(s)
      Soichiro Nomura, Toshiyuki Yasuda and Kazuhiro Ohkura
    • Journal Title

      Proceeding of the 16th Asia Pacific Symposium on Intelligent and Evolutionary Systems

      Pages: 158-163

    • Peer Reviewed
  • [Journal Article] Cooperative Transport by a Swarm Robotic System Based on CMA-NeuroES Approach2012

    • Author(s)
      Tian Yu, Tsuguo Fujita, Toshiyuki Yasuda, Kazuhiro Ohkura, Yoshiyuki Matsumura and Masanori Goka
    • Journal Title

      Proceeding of the 16th Asia Pacific Symposium on Intelligent and Evolutionary Systems

      Pages: 1-7

    • Peer Reviewed
  • [Journal Article] Extracting Functional Subgroups from an Evolutionary Robotic Swarm by Identifying the Community Structure2012

    • Author(s)
      Kazuhiro Ohkura, Toshiyuki Yasuda and Yoshiyuki Matsumura
    • Journal Title

      Proceedings of the 2012 Fourth World Congress on Nature and Biologically Inspired Computing (NaBIC)

      Pages: 112-117

    • Peer Reviewed
  • [Journal Article] Robust Reinforcement Learning Technique with Bigeminal Representation of Continuous State Space for Multi-Robot Systems2012

    • Author(s)
      Toshiyuki Yasuda, Koki Kage and Kazuhiro Ohkura
    • Journal Title

      Proceedings of the SICE Annual Conference 2012

      Pages: 1552-1557

    • Peer Reviewed
  • [Journal Article] Cluster Analysis of Collective Behavior for a Robotic Swarm2012

    • Author(s)
      Kazuhiro Ohkura, Toshiyuki Yasuda, Chikara Morishita and Yoshiyuki Matsumura
    • Journal Title

      Proceedings of the 12th International Conference on Intelligent Autonomous Systems

      Volume: 9 Pages: 9

    • Peer Reviewed
  • [Journal Article] Implementing Genetic Algorithms to CUDA Environment Using Data Parallelization2011

    • Author(s)
      Masashi Oiso, Yoshiyuki Matsumura, Toshiyuki Yasuda, Kazuhiro Ohkura
    • Journal Title

      Technical Gazette

      Volume: 18 Pages: 511-517

    • Peer Reviewed
  • [Journal Article] Preservation and Application of Acquired Knowledge Using Instance-Based Reinforcement Learning for Multi-Robot Systems2011

    • Author(s)
      Junki Sakanoue, Toshiyuki Yasuda, and Kazuhiro Ohkura
    • Journal Title

      Journal of Advanced Computational Intelligence and Intelligent Informatics

      Volume: 15 Pages: 1109-1115

    • Peer Reviewed
  • [Journal Article] Improving the Robustness of Instance-Based Reinforcement Learning Robots by Metalearning2011

    • Author(s)
      Toshiyuki Yasuda, Kousuke Araki, Kazuhiro Ohkura
    • Journal Title

      Journal of Advanced Computational Intelligence and Intelligent Informatics

      Volume: 15 Pages: 1065-1072

    • Peer Reviewed
  • [Journal Article] 部分的初期化によるParticle Swarm Optimizationの拡張(第2報,マルチロボットシステム問題における検証)2011

    • Author(s)
      保田俊行, 大倉和博, 松村嘉之
    • Journal Title

      日本機械学会論文集C編

      Volume: 77 Pages: 2084-2095

    • Peer Reviewed
  • [Journal Article] 部分的初期化によるParticle Swarm Optimizationの拡張(第1報,標準テスト関数における検証)2011

    • Author(s)
      保田俊行, 大倉和博, 松村嘉之
    • Journal Title

      日本機械学会論文集C編

      Volume: 77 Pages: 2071-2083

    • Peer Reviewed
  • [Journal Article] 構造進化型人工神経回路網によるSwarm Roboticsのための適応的協調行動の生成2011

    • Author(s)
      大倉和博, 保田俊行, 松村嘉之
    • Journal Title

      日本機械学会論文集C編

      Volume: 77 Pages: 966-979

    • Peer Reviewed
  • [Journal Article] CUDA 環境におけるデータ並列化を用いた遺伝的アルゴリズムの実装手法2011

    • Author(s)
      大礒正嗣, 松村嘉之, 保田俊行, 大倉和博
    • Journal Title

      知能と情報 (日本知能情報ファジィ学会誌)

      Volume: 23 Pages: 18-28

    • Peer Reviewed
  • [Journal Article] Evolving Robot Controllers for a Homogeneous Robotic Swarm2011

    • Author(s)
      Kazuhiro Ohkura, Toshiyuki Yasuda, Tomonori Sakamoto and Yoshiyuki Matsumura
    • Journal Title

      Proceedings of 2011 IEEE/SICE International Symposium on System Integration

      Pages: 708-713

    • Peer Reviewed
  • [Journal Article] Self-Organized Task Allocation in Reinforcement Learning Robots and a Human Partner2011

    • Author(s)
      Toshiyuki Yasuda, Soichiro Nomura and Kazuhiro Ohkura
    • Journal Title

      Proceeding of the 15th Asia Pacific Symposium on Intelligent and Evolutionary Systems

      Pages: 152-159

    • Peer Reviewed
  • [Journal Article] Analyzing macroscopic behavior in a swarm robotic system based on clustering2011

    • Author(s)
      Kazuhiro Ohkura, Toshiyuki Yasuda, and Yoshiyuki Matsumura
    • Journal Title

      Proceedings of the SICE Annual Conference 2011

      Pages: 356-361

    • Peer Reviewed
  • [Journal Article] Instance-Based Reinforcement Learning Technique with a Meta-Learning Mechanism for Robust Multi-Robot Systems2011

    • Author(s)
      Toshiyuki Yasuda, Motohiro Wada, and Kazuhiro Ohkura
    • Journal Title

      Proceedings of the 12th Conference Towards Autonomous Robotic Systems

      Pages: 161-172

    • Peer Reviewed
  • [Journal Article] Analysis of Behavior Strategy on Evolutionary Robotics Using Self-Organizing Maps2010

    • Author(s)
      Masashi Oiso, Yoshiyuki Matsumura, Toshiyuki Yasuda and Kazuhiro Ohkura
    • Journal Title

      Proceedings of Joint 5th International Conference on Soft Computing and Intelligent Systems and 10th International Symposium on advanced Intelligent Systems

      Pages: 722-727

    • Peer Reviewed
  • [Journal Article] Improving the Robustness of Instance-Based Reinforcement Learning Robots by Metalearning2010

    • Author(s)
      Toshiyuki Yasuda, Kousuke Araki, and Kazuhiro Ohkura
    • Journal Title

      Proceedings of Joint 5th International Conference on Soft Computing and Intelligent Systems and 10th International Symposium on advanced Intelligent Systems

      Pages: 704-709

    • Peer Reviewed
  • [Journal Article] Preservation and Application of Acquired Knowledge Using Instance-Based Reinforcement Learning2010

    • Author(s)
      Junki Sakanoue, Toshiyuki Yasuda and Kazuhiro Ohkura
    • Journal Title

      Proceedings of Joint 5th International Conference on Soft Computing and Intelligent Systems and 10th International Symposium on advanced Intelligent Systems

      Pages: 576-581

    • Peer Reviewed
  • [Journal Article] Hybrid Evolutionary Algorithm Based on (μ,λ) Evolution Strategies and Particle Swarm Optimization Applies to a Car Racing Problem2010

    • Author(s)
      Yoshiyuki Matsumura, Eisuke Nakahara, Masanori Goka, Toshiyuki Yasuda and Kazuhiro Ohkura
    • Journal Title

      Proceedings of the 14th Asia Pacific Symposium on Intelligent and Evolutionary Systems

      Pages: 250-257

    • Peer Reviewed
  • [Journal Article] The Analysis of Autonomous Specialization Process in Reinforcement Learning Arm-Type Robots Cooperating with a Human Partner2010

    • Author(s)
      Toshiyuki Yasuda and Kazuhiro Ohkura
    • Journal Title

      Proceedings of the 14th Asia Pacific Symposium on Intelligent and Evolutionary Systems

      Pages: 199-205

    • Peer Reviewed
  • [Journal Article] Implementation Method of Genetic Algorithms to CUDA Environment using Data Parallelization2010

    • Author(s)
      Masashi Oiso, Yoshiyuki Matsumura, Toshiyuki Yasuda and Kazuhiro Ohkura
    • Journal Title

      Proceedings of the 14th Asia Pacific Symposium on Intelligent and Evolutionary Systems

      Pages: 51-60

    • Peer Reviewed
  • [Journal Article] Extended Particle Swarm Optimization with Partial Randomization for a Multi-Robot System2010

    • Author(s)
      Toshiyuki Yasuda, Kazuhiro Ohkura and Yoshiyuki Matsumura
    • Journal Title

      Proceedings of International Conference on Advanced Mechatronics 2010

      Pages: 37-42

    • Peer Reviewed
  • [Journal Article] Parallelization of Genetic Algorithms over GPU using CUDA2010

    • Author(s)
      Masaki Kadota, Yoshiyuki Matsumura, Toshiyuki Yasuda, and Kazuhiro Ohkura
    • Journal Title

      Proceedings of the 2010 International Symposium on Intelligent Systems

      Pages: 3

    • Peer Reviewed
  • [Journal Article] Extended PSO with Partial Randomization for Large Scale Multimodal Problems2010

    • Author(s)
      Toshiyuki Yasuda, Kazuhiro Ohkura and Yoshiyuki Matsumura
    • Journal Title

      Extended PSO with Partial Randomization for Large Scale Multimodal Problems

      Pages: 6

    • Peer Reviewed
  • [Journal Article] Collective Behavior Analysis Based on Clustering for Swarm Robotic Systems2010

    • Author(s)
      Kazuhiro Ohkura, Toshiyuki Yasuda, Chikara Morishita, and Yoshiyuki Matsumura
    • Journal Title

      Proceedings of International Conference on Innovative Technologies IN-TECH 2010

      Pages: 440-444

    • Peer Reviewed
  • [Journal Article] A Swarm Robotics Approach to Cooperative Package-Pushing Problems with Evolving Recurrent Neural Networks2010

    • Author(s)
      Kazuhiro Ohkura, Toshiyuki Yasuda, Yukihiko Kotani, and Yoshiyuki Matsumura
    • Journal Title

      Proceedings of SICE Annual Conference 2010

      Pages: 706-711

    • Peer Reviewed
  • [Journal Article] Coordinating the Adaptive Behavior for Swarm Robotic Systems by Using Topology and Weight Evolving Artificial Neural Networks2010

    • Author(s)
      Kazuhiro Ohkura, Toshiyuki Yasuda and Yoshiyuki Matsumura
    • Journal Title

      Proceedings of WCCI 2010 IEEE World Congress on Computational Intelligence, 2010 IEEE Congress on Evolutionary Computation

      Pages: 1788-1795

    • Peer Reviewed
  • [Presentation] 動物行動学に基づく漸進進化型ロボティックスワームの進化過程に関する一考察2013

    • Author(s)
      大倉和博, 保田俊行, 門田貴章,和田七海,松村嘉之
    • Organizer
      2013年度精密工学会春季大会学術講演会講演論文集
    • Place of Presentation
      東京
    • Year and Date
      2013-03-15
  • [Presentation] 遺伝的多様性を利用したHeterogeneous Swarmモデルの挙動に関する一考察2012

    • Author(s)
      中元聡志, 保田俊行, 大倉和博
    • Organizer
      第13回計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      福岡
    • Year and Date
      2012-12-18
  • [Presentation] スワームロボットシステムにおける大規模並列計算環境を用いた分散型CMA-ESの実装2012

    • Author(s)
      竹中貴治, 保田俊行, 大倉和博, 松村嘉之, 棟朝雅晴
    • Organizer
      進化計算シンポジウム
    • Place of Presentation
      軽井沢
    • Year and Date
      2012-12-15
  • [Presentation] Evolutionary Swarm Roboticsにおける島モデルGAのGPUへの実装2012

    • Author(s)
      島谷直規, 門田貴章, 保田俊行, 大倉和博
    • Organizer
      計測自動制御学会システム・情報部門学術講演会2012講演論文集
    • Place of Presentation
      名古屋
    • Year and Date
      2012-11-22
  • [Presentation] 自律移動ロボット群による他個体の進行方向を利用しない群れ行動の生成2012

    • Author(s)
      和田基宏, 笹谷俊貴, 保田俊行, 大倉和博
    • Organizer
      計測自動制御学会システム・情報部門学術講演会2012講演論文集
    • Place of Presentation
      名古屋
    • Year and Date
      2012-11-22
  • [Presentation] スワームロボットシステムの群挙動の解析 -動物行動学に基づくアプローチ-2012

    • Author(s)
      和田七海, 保田俊行, 大倉和博
    • Organizer
      第28回ファジィシステムシンポジウム講演論文集
    • Place of Presentation
      名古屋
    • Year and Date
      2012-09-14
  • [Presentation] スワームロボットシステムにおける協調群行動生成に関する一考察2012

    • Author(s)
      門田貴章, 保田俊行, 大倉和博, 松村嘉之
    • Organizer
      第22回インテリジェント・システム・シンポジウム講演原稿集
    • Place of Presentation
      浦添
    • Year and Date
      2012-08-30
  • [Presentation] SMPクラスタへのMPIとOpenMPを用いた進化型ロボットスワーム協調行動生成問題の実装2012

    • Author(s)
      竹中貴治, 門田貴章, 保田俊行, 大倉和博
    • Organizer
      第56回システム制御情報学会研究発表講演会講演論文集
    • Place of Presentation
      京都
    • Year and Date
      2012-05-23
  • [Presentation] スワームロボットシステムにおける群挙動のクラスタ分析に関する一考察2011

    • Author(s)
      森下力, 保田俊行, 大倉和博
    • Organizer
      第12回計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      京都
    • Year and Date
      2011-12-23
  • [Presentation] 強化学習ロボット群のための人工神経回路網の設定法 状態遷移予測器としての利用2011

    • Author(s)
      保田俊行, 大倉和博
    • Organizer
      第21回インテリジェント・システム・シンポジウム
    • Place of Presentation
      神戸
    • Year and Date
      2011-09-02
  • [Presentation] スワームロボットシステムのクラスタ分析に基づく群挙動解析2011

    • Author(s)
      坂本智紀, 保田俊行, 大倉和博
    • Organizer
      第55回システム制御情報学会研究発表講演会講演論文集
    • Place of Presentation
      吹田
    • Year and Date
      2011-05-19
  • [Presentation] スワームロボットシステムにおける協調群れ行動生成の一手法2010

    • Author(s)
      大倉和博, 保田俊行, 森下力
    • Organizer
      第11回計測自動制御学会システムインテグレーション部門講演会論文集
    • Place of Presentation
      仙台
    • Year and Date
      2010-12-15
  • [Presentation] 協調箱押し問題における進化型人工神経回路網の 隠れ層構造に関する一考察2010

    • Author(s)
      小谷幸彦, 保田俊行, 大倉和博
    • Organizer
      第12回 公益法人 計測自動制御学会 システム・情報部門学術講演会2010 講演論文集
    • Place of Presentation
      京都
    • Year and Date
      2010-11-26
  • [Presentation] BRL を用いた移動ロボット群の協調箱押しタスクにおける段階的な行動獲得2010

    • Author(s)
      宗近公紀, 保田俊行, 大倉和博
    • Organizer
      ロボティクス・メカトロニクス講演会2010 講演論文集
    • Place of Presentation
      旭川
    • Year and Date
      2010-06-16
  • [Book] 進化技術ハンドブック 第II 巻: 応用編:情報・通信システム2011

    • Author(s)
      大倉和博
    • Total Pages
      528
    • Publisher
      近代科学社
  • [Book] Multi-Robot Systems, Trends and Development2011

    • Author(s)
      Toshiyuki Yasuda and Kazuhiro Ohkura
    • Total Pages
      586
    • Publisher
      ISBN
  • [Book] A Reinforcement Learning Technique with an Adaptive Action Generator for a Multi-Robot System2011

    • Author(s)
      Toshiyuki Yasuda and Kazuhiro Ohkura
    • Total Pages
      473-488
    • Publisher
      Multi-Robot Systems, Trends and Development
  • [Book] Improving Search Efficiency in the Action Space of an Instance-Based Reinforcement Learning Technique for Multi-Robot Systems2011

    • Author(s)
      Toshiyuki Yasuda and Kazuhiro Ohkura
    • Total Pages
      457-472
    • Publisher
      Multi-Robot Systems, Trends and Development
  • [Book] Proceedings of International Conference on Innovative Technologies IN-TECH 20102010

    • Author(s)
      Jan Kudlacek, Branimir Barisic, Xavier Velay, and Kazuhiro Ohkura
    • Total Pages
      637
    • Publisher
      InTech

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Published: 2014-08-29  

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