| Presentation | 2019-07-11 [Poster Presentation] Mobility Control with Swarm Intelligence Searching for Sensing Targets Kengo Ieshima, Eiji Nii, Hiroyuki Yomo, Yasuhisa Takizawa, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In mobile sensing where autonomous mobile robots equipped with sensors perform sensing operations over a sensing field, the number and positions of sensing targets can be unknown, where robots need to search sensing targets by themselves. In order to realize an efficient search with a group of robots, an algorithm called mobile sensing cluster has been proposed, where robots form a swarm with data exchange through wireless communications. In the existing study on mobile sensing cluster, robots search sensing targets with the assumption that radio waves emitted from the sensing targets can be detected. However, when each robot performs search operations at a position far from sensing targets, radio waves can not be detected, which makes it difficult for each robot to acquire sensing targets. Therefore, in this paper, we propose an algorithm to realize the search of radio waves from sensing targets when radio waves are not detected. In the proposed algorithm, robots are controlled to move away from their past positions. As algorithms to exploit this position history, we propose individual search, in which each robot independently makes search operations, and swarm search, in which groups are formed for search operations. We investigate the search efficiency of the proposed algorithms by computer simulation. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Autonomous mobile robot / Mobile sensing / RSSI / Swarm Intelligence |
| Paper # | RCC2019-32,NS2019-68,RCS2019-125,SR2019-44,SeMI2019-41 |
| Date of Issue | 2019-07-03 (RCC, NS, RCS, SR, SeMI) |
| Conference Information | |
| Committee | SeMI / RCS / NS / SR / RCC |
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| Conference Date | 2019/7/10(3days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | I-Site Nanba（Osaka） |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | Communication and Networked Control for the Future Radio of the AI Age, etc |
| Chair | Susumu Ishihara(Shizuoka Univ.) / Tomoaki Otsuki(Keio Univ.) / Yoshikatsu Okazaki(NTT) / Masayuki Ariyoshi(NEC) / Kazunori Hayashi(Osaka City Univ.) |
| Vice Chair | Kazuya Monden(Hitachi) / Koji Yamamoto(Kyoto Univ.) / Satoshi Suyama(NTT DoCoMo) / Fumiaki Maehara(Waseda Univ.) / Toshihiko Nishimura(Hokkaido Univ.) / Akihiro Nakao(Univ. of Tokyo) / Suguru Kameda(Tohoku Univ.) / Osamu Takyu(Shinshu Univ.) / Kentaro Ishidu(NICT) / Shunichi Azuma(Nagoya Univ.) / HUAN-BANG LI(NICT) |
| Secretary | Kazuya Monden(Kyoto Univ.) / Koji Yamamoto(NTT DOCOMO) / Satoshi Suyama(Hitachi) / Fumiaki Maehara(NTT) / Toshihiko Nishimura(Kyushu Univ.) / Akihiro Nakao(Osaka Pref Univ.) / Suguru Kameda(NTT) / Osamu Takyu(ATR) / Kentaro Ishidu(Univ. of Electro-Comm.) / Shunichi Azuma(Mie Univ.) / HUAN-BANG LI(Kagawa Univ.) |
| Assistant | Akira Uchiyama(Osaka Univ.) / Kenji Kanai(Waseda Univ.) / Masafumi Hashimoto(Osaka Univ.) / Kazushi Muraoka(NTT DOCOMO) / Shinsuke Ibi(Doshisha Univ.) / Koichi Adachi(Univ. of Electro-Comm.) / Osamu Nakamura(Sharp) / Shinya Kumagai(Fujitsu) / Shinya Kawano(NTT) / Mai Ohta(Fukuoka Univ.) / Teppei Oyama(Fujitsu) / Kentaro Kobayashi(Nagoya Univ.) / Toshinori Kagawa(NICT) / Masateru Ogura(NAIST) |
| Paper Information | |
| Registration To | Technical Committee on Sensor Network and Mobile Intelligence / Technical Committee on Radio Communication Systems / Technical Committee on Network Systems / Technical Committee on Smart Radio / Technical Committee on Reliable Communication and Control |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | [Poster Presentation] Mobility Control with Swarm Intelligence Searching for Sensing Targets |
| Sub Title (in English) | |
| Keyword(1) | Autonomous mobile robot |
| Keyword(2) | Mobile sensing |
| Keyword(3) | RSSI |
| Keyword(4) | Swarm Intelligence |
| 1st Author's Name | Kengo Ieshima |
| 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.) |
| Date | 2019-07-11 |
| Paper # | RCC2019-32,NS2019-68,RCS2019-125,SR2019-44,SeMI2019-41 |
| Volume (vol) | vol.119 |
| Number (no) | RCC-106,NS-107,RCS-108,SR-109,SeMI-110 |
| Page | pp.pp.107-112(RCC), pp.133-138(NS), pp.129-134(RCS), pp.139-144(SR), pp.121-126(SeMI), |
| #Pages | 6 |
| Date of Issue | 2019-07-03 (RCC, NS, RCS, SR, SeMI) |