| Presentation | 2023-03-15 Control of Multi-robot Systems Using A Future Map Aki Matsutaka, Shun-ichi Azuma, Ryo Ariizumi, Toru Asai, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | This research was presented at "the 66th Conference of the Institute of Systems, Control and Information Engineers" and "the 6th International Symposium on Swarm Behaviour and Bio-inspired Robotics". In a smart warehouse, efficient control of mobile robots is required. This paper improves the recently proposed method based on a future map in terms of the computational time of generating a route. In this system, each robot is controlled by a receding horizon policy, where a map server saves the scheduled route of each robot and each robot determines its optimal route by reading the information from the server. This paper proposes a new method for generating an optimal route based on a spatio-temporal graph, which contains the future trajectories of robots. The effectiveness is verified by numerical simulations. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | multi-agent systems / model predictive control / smart warehouse |
| Paper # | IT2022-108,ISEC2022-87,WBS2022-105,RCC2022-105 |
| Date of Issue | 2023-03-07 (IT, ISEC, WBS, RCC) |
| Conference Information | |
| Committee | RCC / ISEC / IT / WBS |
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| Conference Date | 2023/3/14(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | Shunichi Azuma(Nagoya Univ.) / Noboru Kunihiro(Tsukuba Univ.) / Tetsuya Kojima(Tokyo Kosen) / Takashi Shono(Wind River) |
| Vice Chair | Shunichi Azuma(Hokkaido Univ.) / Koji Ishii(Kagawa Univ.) / Junji Shikata(Yokohama National Univ.) / Goichiro Hanaoka(AIST) / Yasuyuki Nogami(Okayama Univ.) / Hiroyasu Ishikawa(Nihon Univ.) / Hideki Ochiai(Yokohama National Univ.) |
| Secretary | Shunichi Azuma(CRIEPI) / Koji Ishii(Ritsumeikan Univ.) / Junji Shikata(AIST) / Goichiro Hanaoka(Ibaraki Univ.) / Yasuyuki Nogami(Saitamai Univ.) / Hiroyasu Ishikawa(Nagaoka Univ. of Tech.) / Hideki Ochiai(Okayama Prefectural Univ.) |
| Assistant | SHAN LIN(NICT) / Ryosuke Adachi(Yamaguchi Univ.) / Yoshikazu Hanatani(Toshiba) / Takayuki Nozaki(Yamaguchi Univ.) / Sun Ran(Ibaraki Univ.) / Chen Na(NAIST) |
| Paper Information | |
| Registration To | Technical Committee on Reliable Communication and Control / Technical Committee on Information Security / Technical Committee on Information Theory / Technical Committee on Wideband System |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Control of Multi-robot Systems Using A Future Map |
| Sub Title (in English) | |
| Keyword(1) | multi-agent systems |
| Keyword(2) | model predictive control |
| Keyword(3) | smart warehouse |
| 1st Author's Name | Aki Matsutaka |
| 1st Author's Affiliation | Nagoya University(Nagoya Univ.) |
| 2nd Author's Name | Shun-ichi Azuma |
| 2nd Author's Affiliation | Kyoto University(Kyoto Univ.) |
| 3rd Author's Name | Ryo Ariizumi |
| 3rd Author's Affiliation | Nagoya University(Nagoya Univ.) |
| 4th Author's Name | Toru Asai |
| 4th Author's Affiliation | Nagoya University(Nagoya Univ.) |
| Date | 2023-03-15 |
| Paper # | IT2022-108,ISEC2022-87,WBS2022-105,RCC2022-105 |
| Volume (vol) | vol.122 |
| Number (no) | IT-427,ISEC-428,WBS-429,RCC-430 |
| Page | pp.pp.251-256(IT), pp.251-256(ISEC), pp.251-256(WBS), pp.251-256(RCC), |
| #Pages | 6 |
| Date of Issue | 2023-03-07 (IT, ISEC, WBS, RCC) |