Networking and Motion Control of Swarm Robots

群体机器人的网络和运动控制

• 批准号: 19360177
• 负责人: HARA Shinsuke
• 金额: $ 8.82万
• 依托单位: Osaka City University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2007
• 资助国家: 日本
• 起止时间: 2007 至 2009
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-19360177/
• 关键词: 群ロボット; ネットワーキング; 行動制御; 共通座標生成; 方向推定; 位置推定; 無線電力測定; 無線伝搬特性; 受信電力測定

For a robot swarm composed of many wirelessly networked robots, a method is proposed to autonomously generate a single set of common coordinates among the robots and to notify each robot of its location and heading direction in the coordinates. The proposed method is developed through theoretical analyses and computer simulations, and then after assembling an experimental robot swarm composed of thirty robots, it is finally validated by experiments with the robot swarm.

针对由多个无线网络化机器人组成的机器人群，提出了一种在机器人之间自主生成一组公共坐标，并通知每个机器人在该坐标中的位置和航向的方法.通过理论分析和计算机仿真验证了该方法的有效性，并组建了一个由30个机器人组成的实验机器人群，最后通过机器人群实验验证了该方法的有效性。

项目成果

An RSSI-Based MAP Localization Method with Channel Parameters Estimation in Wireless Sensor Networks

无线传感器网络中基于RSSI的信道参数估计MAP定位方法

• 发表时间: 2009
• 期刊: Proceedings of The 69th IEEE Vehicular Technology Conference(VTC)2009-Spring (CD-ROM)
• 作者: Daisuke Anzai;Shinsuke Hara
• 通讯作者: Shinsuke Hara

A Least Squares-Based Heading Direction Estimation for a Robot Swarm with only Ranging Capability

基于最小二乘法的仅具有测距能力的机器人群航向估计

• 发表时间: 2009
• 期刊: Proceedings of The 7th IEEE International Workshop on Robotics and Sensor Environments(ROSE)2009 (CD-ROM)
• 作者: Shinsuke Hara;Tatsuya Ishimoto
• 通讯作者: Tatsuya Ishimoto

A Method of Generating a Set of Common Coordinates for a Robot Swarm with Only Ranging Capability-Principles and Computer Simulations-

一种为仅具有测距能力的机器人群生成一组公共坐标的方法-原理与计算机模拟-

• 发表时间: 2009
• 期刊: IEICE Transactions on Communications Vol.E-92-B,No.12
• 作者: Tatsuya Ishimoto;Shinsuke Hara
• 通讯作者: Shinsuke Hara

A Common Coordinates/Heading Direction Generation Method for a Robot Swarm with Only RSSI-Based Ranging

仅基于 RSSI 测距的机器人群通用坐标/航向生成方法

• 发表时间: 2009
• 期刊: EURASIP Journal on Advances in Signal Processing Vol.2009,ArticleID434597
• 作者: Shinsuke Hara;Tatsuya Ishimoto;Masaya Kitano;Tetsuo Tsujioka
• 通讯作者: Tetsuo Tsujioka

Use of RSSI for motion control of wirelessly networked robot swarm

• DOI: 10.1109/rose.2008.4669187
• 发表时间: 2008-11
• 期刊: 2008 International Workshop on Robotic and Sensors Environments
• 作者: T. Ishimoto;S. Hara