| Presentation | 2020-01-30 Impact of mutual assistance of mobile robots in mobile sensing cluster exploiting swarm intelligence Kazuki Higashitani, 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, 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. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Autonomous mobile robot / Mobile sensing / Swarm Intelligence / Mutual assistance |
| Paper # | SeMI2019-100 |
| Date of Issue | 2020-01-23 (SeMI) |
| Conference Information | |
| Committee | SeMI |
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| Conference Date | 2020/1/30(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | Susumu Ishihara(Shizuoka Univ.) |
| Vice Chair | Kazuya Monden(Hitachi) / Koji Yamamoto(Kyoto Univ.) |
| Secretary | Kazuya Monden(Kyoto Univ.) / Koji Yamamoto(NTT DOCOMO) |
| Assistant | Akira Uchiyama(Osaka Univ.) / Kenji Kanai(Waseda Univ.) / Masafumi Hashimoto(Osaka Univ.) |
| Paper Information | |
| Registration To | Technical Committee on Sensor Network and Mobile Intelligence |
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| Language | JPN |
| 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 |
| 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.) |
| Date | 2020-01-30 |
| Paper # | SeMI2019-100 |
| Volume (vol) | vol.119 |
| Number (no) | SeMI-406 |
| Page | pp.pp.5-10(SeMI), |
| #Pages | 6 |
| Date of Issue | 2020-01-23 (SeMI) |