{"created":"2023-06-20T14:35:48.036175+00:00","id":2080,"links":{},"metadata":{"_buckets":{"deposit":"8a8c5304-b452-4419-a1cd-66c45c4b9b07"},"_deposit":{"created_by":1,"id":"2080","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"2080"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00002080","sets":["1887:1893","9:10:121:126"]},"author_link":["3054","3049","3059","3055","3051","3052","3061","3056","3057","3058","3053","3060","3050","3048"],"item_3_alternative_title_2":{"attribute_name":"その他のタイトル（英）","attribute_value_mlt":[{"subitem_alternative_title":"Validation of Collective Motion Control Algorithm by using Ground Vehicle Swarm Robots"}]},"item_3_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2010-03-31","bibliographicIssueDateType":"Issued"},"bibliographicVolumeNumber":"JAXA-RR-09-005","bibliographic_titles":[{"bibliographic_title":"宇宙航空研究開発機構研究開発報告"},{"bibliographic_title":"JAXA Research and Development Report","bibliographic_titleLang":"en"}]}]},"item_3_description_16":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"災害発生時の情報収集を目的として無人の航空機や地上ロボットの開発が進められているが、開発や運用にかかるコストを低減するための方法としてシステムの小型化がある。ただし、小型化には機能の制限や外乱に対する脆弱性が伴うため、対処の方法として多数の小型機を同時に使用する群制御が有効と考えられる。筆者らは過去に生物の群運動を参考にした群制御モデルを用いて飛翔体の群制御シミュレーションを行い、機体間の距離に応じて接近、平行、反発の3つの制御を切り替える単純な制御によって様々な群制御を実現した。本研究では、その結果を実際のハードウェアを用いて検証することを目的として地上移動型の群ロボットを開発した。各ロボットはロボット間の相互作用のために超音波センサ、磁気方位センサ、通信装置を搭載し、超音波センサで計測したロボット間の距離に応じて3つの制御を切り替えた。接近と反発制御は超音波センサが検知したロボットの方向へ前進、あるいは後退することで実現し、平行制御は磁気方位センサで測定した自身の移動方向を通信装置で他のロボットと交換し、平均的な移動方向に移動することで実現した。この群ロボットを用いて経路制御や、形状制御、高度センサの情報を利用した制御を実現し、提案した群制御アルゴリズムがハードウェア上で有効に機能することを確認した。","subitem_description_type":"Abstract"}]},"item_3_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"Unmanned systems including ground or aerial vehicles have been developed vigorously for the purpose of surveillance in a disaster area. For such unmanned systems, downsizing is beneficial to lower the cost of development or operation. However, such downsizing causes an inevitable problem due to the limitation in system's function and the susceptibility to internal or external disturbances. To handle this problem, collective motion control (CMC) is proposed here which operates multiple small agents at the same time. The authors developed a CMC model of air vehicles based on biologically-inspired three primitive controls, i.e. \"approach\",  \"parallel orientation\", and \"repulsion\", depending on the distance between air vehicles, and succeeded to realize various CMC motions such as shape or loitering control. In this study, multiple ground vehicles (GVs) are developed to validate the simulation results. Each GV is equipped with interaction devices and is programmed to switch the above-mentioned three controls depending on the distance to other GVs. The approach or repulsion is realized by moving in the direction or in the counter-direction to detected GV, respectively. The parallel orientation is realized by moving in the averaged direction of detected GVs' body directions which are measured by using electro magnetic direction sensor on each GV and are transmitted to other GVs for calculating the averaged direction by using communication device. Navigation control, shape control, and the control by using altitude sensor are realized, thus validating the feasibility of proposed biologically-inspired CMC model.","subitem_description_type":"Other"}]},"item_3_description_18":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"形態: カラー図版あり","subitem_description_type":"Other"}]},"item_3_description_19":{"attribute_name":"内容記述（英）","attribute_value_mlt":[{"subitem_description":"Physical characteristics: Original contains color illustrations","subitem_description_type":"Other"}]},"item_3_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0064641000","subitem_description_type":"Other"}]},"item_3_description_33":{"attribute_name":"レポート番号","attribute_value_mlt":[{"subitem_description":"レポート番号: JAXA-RR-09-005","subitem_description_type":"Other"}]},"item_3_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"宇宙航空研究開発機構"}]},"item_3_publisher_9":{"attribute_name":"出版者（英）","attribute_value_mlt":[{"subitem_publisher":"Japan Aerospace Exploration Agency (JAXA)"}]},"item_3_source_id_21":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"1349-1113","subitem_source_identifier_type":"ISSN"}]},"item_3_source_id_24":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA1192675X","subitem_source_identifier_type":"NCID"}]},"item_3_text_6":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"宇宙航空研究開発機構研究開発本部数値解析グループ"},{"subitem_text_value":"工学院大学機械システム工学科"},{"subitem_text_value":"工学院大学機械システム工学科"},{"subitem_text_value":"工学院大学機械システム工学科"},{"subitem_text_value":"工学院大学機械システム工学科"},{"subitem_text_value":"工学院大学機械システム工学科"},{"subitem_text_value":"工学院大学機械システム工学科"}]},"item_3_text_7":{"attribute_name":"著者所属（英）","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"Numerical Analysis Group, Aerospace Research and Development Directorate, Japan Aerospace Exploration Agency (JAXA)"},{"subitem_text_language":"en","subitem_text_value":"Department of Mechanical Systems Engineering, Kogakuin University"},{"subitem_text_language":"en","subitem_text_value":"Department of Mechanical Systems Engineering, Kogakuin University"},{"subitem_text_language":"en","subitem_text_value":"Department of Mechanical Systems Engineering, Kogakuin University"},{"subitem_text_language":"en","subitem_text_value":"Department of Mechanical Systems Engineering, Kogakuin University"},{"subitem_text_language":"en","subitem_text_value":"Department of Mechanical Systems Engineering, Kogakuin University"},{"subitem_text_language":"en","subitem_text_value":"Department of Mechanical Systems Engineering, Kogakuin University"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"稲田, 喜信"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"時田, 拓明"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"二上, 将直"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"堀江, 数馬"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"飯田, 真澄"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"遠藤, 智博"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"高信, 英明"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Inada, Yoshinobu","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Tokita, Hiroaki","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Futakami, Masanao","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Horie, Kazuma","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Iida, Masumi","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Endo, Tomohiro","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Takanobu, Hideaki","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2020-01-15"}],"displaytype":"detail","filename":"64641000.pdf","filesize":[{"value":"5.2 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"64641000.pdf","url":"https://jaxa.repo.nii.ac.jp/record/2080/files/64641000.pdf"},"version_id":"0647af75-fd80-4152-bf8a-c558c67b26a5"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Collective Motion Control, Ground Vehicle, Mutual Interaction","subitem_subject_language":"en","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"technical report","resourceuri":"http://purl.org/coar/resource_type/c_18gh"}]},"item_title":"地上移動型群ロボットを用いた群制御アルゴリズムの検証","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"地上移動型群ロボットを用いた群制御アルゴリズムの検証"}]},"item_type_id":"3","owner":"1","path":["126","1893"],"pubdate":{"attribute_name":"公開日","attribute_value":"2015-03-26"},"publish_date":"2015-03-26","publish_status":"0","recid":"2080","relation_version_is_last":true,"title":["地上移動型群ロボットを用いた群制御アルゴリズムの検証"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T09:29:01.068756+00:00"}