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| Presentation | 2020-01-30 14:25 Impact of mutual assistance of mobile robots in mobile sensing cluster exploiting swarm intelligence Kazuki Higashitani, Eiji Nii, Hiroyuki Yomo, Yasuhisa Takizawa (Kansai Univ.)  SeMI2019-100 |
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| Abstract | (in Japanese) | (See Japanese page) |
| (in English) | In mobile sensing, in which autonomous mobile robots with sensors perform sensing operations, the position and number of sensing targets are unknown, therefore, the robots must search for the sensing targets by themselves. To this end, a mobile sensing cluster has been proposed, in which multiple robots form a swarm through swarm intelligence and information exchange using wireless communication, and search for sensing targets efficiently. In the conventional algorithm of mobile sensing cluster, a swarm arriving at a specific target (heading swarm) can be followed by a following swarm that heads for the same target with random movements. In this case, if there is only a single target around these swarms, the random search of the following swarm becomes redundant. In addition, if there is not sufficient number of robots required to execute a given task against the sensing target, robots need to wait until the other robots arrive. These redundant movements and waiting time degrade the search efficiency of mobile sensing cluster. Therefore, in this paper, we propose algorithms that include mutual assistance between robots to suppress the redundant search of the following swarms and to reduce the waiting time of arriving robots. We verify the search efficiency of the proposed algorithms by computer simulations. |
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| Keyword | (in Japanese) | (See Japanese page) |
| (in English) | Autonomous mobile robot / Mobile sensing / Swarm Intelligence / Mutual assistance / / / / | |
| Reference Info. | IEICE Tech. Rep., vol. 119, no. 406, SeMI2019-100, pp. 5-10, Jan. 2020. | |
| Paper # | SeMI2019-100 | |
| Date of Issue | 2020-01-23 (SeMI) | |
| ISSN | Online edition: ISSN 2432-6380 | |
| Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) | |
| Download PDF | SeMI2019-100 |
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| Conference Information | |
| Committee | SeMI |
| Conference Date | 2020-01-30 - 2020-01-31 |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Paper Information | |
| Registration To | SeMI |
| Conference Code | 2020-01-SeMI |
| Language | Japanese |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Impact of mutual assistance of mobile robots in mobile sensing cluster exploiting swarm intelligence |
| Sub Title (in English) | |
| Keyword(1) | Autonomous mobile robot |
| Keyword(2) | Mobile sensing |
| Keyword(3) | Swarm Intelligence |
| Keyword(4) | Mutual assistance |
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| 1st Author's Name | Kazuki Higashitani |
| 1st Author's Affiliation | Kansai University (Kansai Univ.) |
| 2nd Author's Name | Eiji Nii |
| 2nd Author's Affiliation | Kansai University (Kansai Univ.) |
| 3rd Author's Name | Hiroyuki Yomo |
| 3rd Author's Affiliation | Kansai University (Kansai Univ.) |
| 4th Author's Name | Yasuhisa Takizawa |
| 4th Author's Affiliation | Kansai University (Kansai Univ.) |
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| Speaker | Author-1 |
| Date Time | 2020-01-30 14:25:00 |
| Presentation Time | 25 minutes |
| Registration for | SeMI |
| Paper # | SeMI2019-100 |
| Volume (vol) | vol.119 |
| Number (no) | no.406 |
| Page | pp.5-10 |
| #Pages | 6 |
| Date of Issue | 2020-01-23 (SeMI) |
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