JP2019053709A - Control device, method, and program - Google Patents

Abstract

To provide a control technology capable of shortening the time required for a column control operation.SOLUTION: A control device includes a plurality of control object blocks. Each control object block consists of a first control object block and a second control object block. The first control object block and second control object block are respectively composed of U (U being an integer of 4 or more) control objects. A first control object block movement control unit 1 moves the first control object block of each control object block to its target position while maintaining the connectivity of the control object structure. A second control object block movement control unit 2 moves the second control object block of each control object block to its target position while maintaining the connectivity of the control object structure.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a technique for controlling actions of a plurality of control objects.

  In recent years, research has been actively conducted to efficiently control a large number of autonomous mobile robots. Their missions vary, such as monitoring places where people can't enter, transporting goods, etc., but technology is being sought for efficient formation of platoons through the coordinated operation of many robots. It has been broken.

  Especially in the robot row control, the robot row control under the assumption that the robot moves as a whole like an amoeba in a state where the robots are in contact with each other, from the relative positional relationship between the robots. There is an advantage that the absolute position of each robot can be determined and an advantage that no additional position measurement equipment is required, and research on such robots has also been conducted (for example, non-patent literature). 1 and 2).

  Non-Patent Document 1 discloses a method for realizing formation control in which all robots have the same properties (homogeneous) and transform from an arbitrary initial formation formation state to a target formation formation state. Here, by moving eight robots as one unit, more efficient row control is realized.

  Non-Patent Document 2 discloses a formation control method for transforming an arbitrary shape formation to another shape formation under the premise that each rectangular robot has different properties (heterogeneous).

  In order to realize such an efficient formation of a formation by a large number of robots, it is important to plan the arrangement and operation order of each robot in advance. In such a plan, as a matter of course, it is necessary to sufficiently consider the presence of obstacles and the shape of a route in an actual environment where a plurality of robots operate.

Kawano, H., “Complete Reconfiguration Algorithm for Sliding Cube-shaped Modular Robots with only Sliding Motion Primitive”, 2015 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS 2015), pp.3276-3283, September 2015, Hamburg, Germany. R. Fitch, Z. Butler, D. Rus, “Reconfiguration Planning for Heterogeneous Self-Reconfiguring Robots”, in Proc. 2003 IEEE / RSJ Int. Conf. Intelligent Robots and Systems, pp. 2460-2467, Las Vegas, NV, Oct., 2003.

  In Non-Patent Document 2, it is assumed that each robot is in contact with each other, and each robot has a different characteristic (heterogeneous), that is, the formation control is performed when the target position of each robot is specified. ing. Such a formation control is, for example, controlling the shape of the formation while arranging each robot having a different role such as a robot equipped with a camera or a robot equipped with wheels at an appropriate position in the robot formation. Suitable for operation.

  Non-Patent Document 1 is based on the premise of homogenous, and the position of each robot after deformation of the formation is not guaranteed, so it cannot be applied to the formation of formation that assumes heterogeneous.

  Non-Patent Document 2 can perform formation of a formation on the premise of heterogeneous, but the deformation operation of the shape of the entire formation and the replacement of the robot position after the deformation must be performed as separate processes. In other words, first, before transforming the shape (convoy) into the target convoy, regardless of the position of the robot, another convoy form is used to change the position of each robot so that the position of each robot becomes the correct target position. Therefore, the position of the robot is changed. Since it takes a very long time to replace the robot position, there is a problem that it takes a long time to control the formation as a whole.

  In view of such a current situation, an object of the present invention is to provide a control device, a method, and a program capable of shortening the time required for the formation control operation.

  In the control device according to one aspect of the present invention, there are a plurality of control object units, and each control object unit includes a first type control object unit and a second type control object unit. The object unit is composed of four control objects, the second type control object unit is composed of four control objects, and the control object unit includes a predetermined initial position and a predetermined target position. The set of initial positions is S, the set of target positions is G, and the target position of the first type control target unit is the target of the control target unit of the first type control target unit. And the target position of the second type control target unit is the target position of the control target unit of the second type control target unit, and the first type control target unit and the second type control target unit are Adjacent to other type 1 control unit and type 2 control unit As a result, the connectivity of the control object structure is maintained by the fact that the first type control object unit and the second type control object unit form a block of control object structures. However, while maintaining the connectivity of the control object structure with the first type control object unit moving unit that moves the first type control object unit of each control object unit to its target position, each control object A second-type controlled object unit movement control unit that moves the second-type controlled object unit of the object unit to the target position.

  According to the present invention, the time required for the row control operation can be shortened.

The figure for demonstrating the movement of a robot. The figure for demonstrating the initial position and target position of a control target object. The figure for demonstrating the mode of a movement of a void. The figure for demonstrating a control target object unit. The figure for demonstrating the movement of a control target unit. The figure for demonstrating the discontinuity of a control object structure. The figure for demonstrating the control for maintaining the continuity of a control target object structure. The figure for demonstrating the movement of a control target unit. The figure for demonstrating the movement of a control target unit. The figure for demonstrating the movement of a control target unit. The figure for demonstrating the movement of a control target unit. The figure for demonstrating the movement of a control target unit. The figure for demonstrating the movement of a control target unit. The figure for demonstrating the movement of a control target unit. The figure for demonstrating the movement of a control target unit. The figure for demonstrating the movement of a control target unit. The block diagram for demonstrating the control apparatus of 1st embodiment. The flowchart for demonstrating the control method of 1st embodiment. The flowchart for demonstrating the control method of 1st embodiment. The block diagram for demonstrating the control apparatus of 2nd embodiment. The flowchart for demonstrating the control method of 2nd embodiment.

  Hereinafter, embodiments of the present invention will be described. In the drawings used for the following description, constituent parts having the same function and steps for performing the same process are denoted by the same reference numerals, and redundant description is omitted.

<Theoretical background>
First, the theoretical background of the behavior control system and method will be described. In the following description, the controlled object is a robot. The control target may be other than the robot as long as it can be a control target.

[Problem settings]
Many formation controls that move the formation to the target formation formation state that is the desired arbitrary formation formation state while maintaining the state where the control objects remain in contact with each other as the initial formation formation state. The tasks that the control objects perform in cooperation are realized assuming the control of a cube-type control object that can be moved by sliding the surfaces that contact each other, for example, as illustrated in FIG. To do. As shown in FIG. 2, in a room partitioned by walls (the walls are omitted in the figure), the transformation from the initial formation formation state to the target formation formation state is realized by movement of a plurality of control objects. It is.

  Each of the initial formation formation state and the target formation formation state is formed by combining cubes composed of eight control objects as shown in the left of FIG. 4B as basic constituent elements (8 mass control object units). It is assumed that the shape is arbitrary. The 8-mass control object unit may be simply referred to as a “control object unit”. It is assumed that different 8-mass control object units have different properties (heterogeneous), and that each control object in each 8-mass control object unit is the same (homogeneous). That is, in the initial formation formation state and the target formation formation state, it is specified which position each 8 mass control object unit should be, but the position of each control object in each 8 cell control object unit is It doesn't matter.

  As for the control object, for example, as shown in FIG. 1, there is another control object in one of the six squares around the control object in the vertical / horizontal / height direction (hereinafter also referred to as “up / down / left / right / front / back direction”). It is assumed that the robot moves while maintaining a state in which one surface is shared with another control object. This method has an advantage that one control object itself can accurately measure the movement amount of one operation by moving a distance corresponding to the size of one control object. Further, by measuring the relative positions of adjacent control objects that share one surface, the position of each control object in the entire group of control objects can be easily known. For this reason, it is difficult to cause a problem that the formation is collapsed due to an error in the movement amount of the controlled object, and the position is grasped without additional position measurement equipment for grasping the position of each controlled object. Is possible. Further, it is possible to move a plurality of control objects at the same time as if a plurality of control objects are connected. It should be noted that the control object can know whether there is another control object at the adjacent position, whether there is an obstacle, and whether it is on the target position. .

  The number of control objects to be assigned is p (p ≧ 16 = 8 × 2), and each control object moves in the XYZ axis direction in the three-dimensional space while sharing one or more surfaces with the adjacent control object. Make it possible. In the present invention, the control target object is a control target group composed of four control target objects as shown in FIG. 4A as “four square control target unit”, and the four square control target unit as shown in FIG. 4B. It is assumed that the initial formation formation state and the target formation formation state are formed with a metablock (hereinafter, “8-mass control target unit”) configured by combining two as a minimum unit. Therefore, the total number p of the control objects forming the formation is a multiple of 8.

  In the following, the 4-mass control object unit having the shape shown by the dots in FIG. 4B is referred to as “first-type control object unit”, and the 4-mass control object unit having the shape shown in white in FIG. It will be called “unit”.

  Each cube in FIG. 1 indicates the position of each control object. Each cube can have only one control object. Each control object is assumed to be stationary when there are obstacles or other control objects in the direction of movement. Note that a cubic space in which a control object can exist is also referred to as a mass or a lattice. In FIG. 2, the filled cells indicate positions where control objects exist. 2A indicates the set of initial positions of the control objects (initial formation state), and the position of the control object in FIG. 2C indicates the set of target positions of the control objects (target formation). Forming state). As shown in FIG. 2B, the set of target positions and the set of initial positions are in contact. An area represented by a set of target positions is also called a target platoon area. Thus, each initial position and each target position are adjacent to other initial positions and target positions in at least one of the vertical and horizontal height directions, and the formation shape of the control object at the initial position and the target position is Each of them has an arbitrary shape.

[Coordinate setting of control object]
The position of each control object i (i is the control object number i = 0,1,2,3, ..., p-1) (Xr [i], Yr [i], Zr [i]) When the initial position is (Xr0 [i], Yr0 [i], Zr0 [i]) and the target position is (Xre [i], Yre [i], Zre [i]), this problem is It can be defined as obtaining an action plan for the control object placed at the initial position to move to the target position. Assume that a set of initial positions of control objects is s, and a set of target positions (Xre [i], Yre [i], Zre [i]) is g.

[Definition of mission space]
When i is a control object number, each state of the control object i (the position and action of the control object) is expressed by discrete values. When a room is represented in a three-dimensional space composed of an orthogonal coordinate system of X, Y, and Z, each position is represented by a discrete representation of the X, Y, and Z axes. That is, the room (three-dimensional space) is divided by a lattice, and each lattice corresponds to each position. In each grid, “present / none” of the obstacle is set in advance.

[Definition of controlled object motion]
The action subject is each control object arranged in the room. The action a of the control object i (i is the control object number) takes one of a total of seven types: stationary, movement of one lattice in the vertical and horizontal height directions. For example, if a∈ {0,1,2,3,4,5,6}
0: stationary
1: Move one grid in the positive direction of X axis in 3D space
2: Move one grid in the positive Y-axis direction in 3D space
3: Move one grid in the negative X-axis direction in 3D space
4: Move one grid in the negative Y-axis direction in 3D space
5: Move one grid in the positive Z-axis direction in 3D space
6: Suppose that one grid moves in the negative Z-axis direction in the three-dimensional space.

[Problems in search calculation]
The state space in such a mission environment has a state of the number of controlled objects × 3 dimensions, and the number of selectable actions is the power of the control object (= 7 types) multiplied by the number of control objects. To do. For example, if the number of objects to be controlled is 50 and the number of grids in the vertical and horizontal directions of the room is 20, the number of states will be 20 to the 150th power, and the amount of resources required for search calculation will be enormous It becomes. Each time the number of controlled objects increases by one, the number of states will increase by 8000 times. As explained in [Problem Setting], when taking into account the constraint that the control objects are in contact with each other, the search calculation must be performed in consideration of the mutual movement of the control objects. It is difficult to reduce the amount of calculation, which is a big problem when a plurality of control objects are used.

[Characteristics of heterogeneous formation control in Reference 1]
In heterogeneous platoon control in Non-Patent Document 4, the concept of void control is introduced as one of the measures for solving the above-described problem of calculation load. Further, in order to overcome the problem of platoon deformation as described in [Problem setting], the movement is performed with the 8-mass control target unit as the minimum unit.

  First, void control will be described. The term “void” as used herein refers to a gap that can be brought to the original position after a certain control object has moved to another position. In other words, the void is a virtual existence that moves in the direction opposite to the direction in which the controlled object moves. In such a group formation problem of group control objects, the amount of search calculation explodes because it focuses on the movement of multiple control objects, but if you change the viewpoint and focus on the movement of voids, many The problem of the operation plan of the control object can be considered as a single void operation plan, which is suitable for reducing the search calculation load. FIG. 3 shows a state in which the void moves with the movement of the control object. However, in Reference 1, since the 8 mass control object unit in which the control object is fully filled in 8 squares is adopted as the minimum unit of movement, a void is intentionally generated in the formation structure. Otherwise, the control object cannot be moved, and therefore there are many inconveniences in passing between control objects that are not adjacent to each other. For this reason, when the entire shape of the formation is deformed, it is difficult to simultaneously move the control objects to reach the target position.

  [Reference 1] Kawano, H., “Tunneling-Based Self-Reconfiguration of Heterogeneous Sliding Cube-Shaped Modular Robots in Environments with Obstacles”, 2017 IEEE International Conference on Robotics and Automation, pp.825-832, May 2017, Singapore .

[Principle of the present invention]
In the present invention, the initial formation formation state and the target formation formation state are configured with an 8-mass control object unit as a minimum unit, as in Non-Patent Document 2 and Reference Document 1, while in movement, FIG. The first type control object unit and the second type control object unit shown in FIG.

  The column conversion according to the present invention can be roughly described as follows.

  First, the first type control object unit in each of the eight mass control object units in the initial formation formation state is moved to the target position in the target formation (first type control object unit moving step, FIG. 16A. The control object after movement takes the form of a second type control object unit). Next, the second type control object unit in each of the eight mass control object units in the initial formation formation state is moved to the target position in the target formation (second type control object unit moving step, FIG. 16B. The control object after movement takes the form of a first type control object unit).

  In the first type control object unit movement and the second type control object unit movement step, movement is performed in units of four mass control objects. First, in order to explain the basic concept of the movement of the 4-mass control object unit, a formation formation (for example, assuming that one 4-mass control object unit in the 8-mass control object unit is a gap) The movement method of the 4-mass control target unit in the formation formation state in which the first type control target unit does not exist and is formed only by the second type control target unit will be described.

[Movement of 4-mass control target unit]
The initial formation formation state is set S, and the target formation formation state is set G. A set S and a set G are sets of position information of each control object unit that constitutes a platoon. In other words, assuming that a predetermined initial position and a predetermined target position are defined in the 8-mass control object unit, the set of the initial positions is S, and the set of the target positions is G. Hereinafter, the set S may be referred to as an initial position S. Similarly, the set G may be referred to as a target position G. The target position of the first type control object unit is the target position of the control object unit of the first type control object unit, and the target position of the second type control object unit is the second type control object. It is assumed that the target position is a control object unit.

When the position of a 4-mass controlled object unit j is (Xr_u [j], Yr_u [j], Zr_u [j]) (j = 0, 1, 2, ... j_max-1), the controlled object unit If the control object in j is j1, j2, j3, j4,
Xr [j1] = 2 × Xr_u [j]
Yr [j1] = 2 × Yr_u [j] + 1
Zr [j1] = 2 × Zr_u [j]
Xr [j2] = 2 × Xr_u [j] + 1
Yr [j2] = 2 × Yr_u [j]
Zr [j2] = 2 × Zr_u [j]
Xr [j3] = 2 × Xr_u [j]
Yr [j3] = 2 × Yr_u [j]
Zr [j3] = 2 × Zr_u [j]
Xr [j4] = 2 × Xr_u [j]
Yr [j4] = 2 × Yr_u [j]
Zr [j4] = 2 × Zr_u [j] + 1
Here, j_max is the total number of 4-mass control object units, that is, j_max = p / 4, and j corresponds to an ID for specifying the control object unit.

  Note that the control object unit j to which each control object i belongs is invariant at any time in the formation control. Also, the initial position of each control object unit j is (Xr_u0 [j], Yr_u0 [j], Zr_u0 [j]), and the target position is (Xr_ue [j], Yr_ue [j], Zr_ue [j]) To do.

  Hereinafter, moving the control object belonging to the first type control object unit may be abbreviated as moving the first type control object unit. Similarly, moving the control object belonging to the second type control object unit may be abbreviated as moving the second type control object unit.

[Heterogeneous control object platoon control]
From the start formation formation state formed by the set S of each control object unit j at the initial position (Xr_u0 [j], Yr_u0 [j], Zr_u0 [j]), the target position (Xr_ue [j], Yr_ue [j ], Zr_ue [j]) A method of heterogeneous control object train control that moves each control object unit to a target train formation state formed by a set G of each control object unit j in Jr. .

  At a certain time, the target position (Xr_ue [j], Yr_ue [j], Zr_ue [j]) of the control object unit j remains a gap, and the target position (Xr_ue [j], Yr_ue [j], Zr_ue) It is assumed that there are four control objects belonging to the control object unit j ′ in the position of the control object unit adjacent to [j]) (FIG. 5A). In this case, there are no unconnected places in the formation (control object structure) consisting of p control objects, and there are four gaps in each control object unit through which the control objects can pass. Therefore, the four control objects belonging to the control object unit j existing at a certain position in the control object structure are transferred to the gap in the control object unit j ′ through the gap in the control object structure. It is possible to move (FIGS. 5B and 5C). Then, from the control object position j ′ in the state where the four voids are filled with the control object belonging to the control object unit j, to the adjacent positions (Xr_ue [j], Yr_ue [j], Zr_ue [j]) Four control objects belonging to the control object unit j are discharged, and the basic shape of the control object unit j is formed at the target position (Xr_ue [j], Yr_ue [j], Zr_ue [j]). Is also possible (FIG. 5D).

  Here, it should be noted that while the control object belonging to the control object unit j is moving to the control object unit j ′, the place where the control object of the control object unit j was originally located. Is the fact that becomes void. Then, by moving the control target unit j, the connectivity of the platoon composed of the remaining control targets may not be maintained, resulting in a discontinuous state (FIG. 6). In FIG. 6, when transitioning from the state of FIG. 6B to the state of FIG. 6C, the position where the control object unit j is located becomes a gap, and a discontinuous state occurs.

  In addition, it is called the connectivity of a control object structure that a control object unit forms the lump of control object structure because a control object unit adjoins another control object unit. Using the terms 1st type control object unit and 2nd type control object unit, connectivity means that the 1st type control object unit and 2nd type control object unit are other 1st type control objects. It is said that the first type control object unit and the second type control object unit form a block of control object structures by being adjacent to the unit and the second type control object unit.

  For this reason, depending on the position of the control object unit j, it is necessary to devise in order to move the control object unit j while maintaining the connection of the control object structure. Here, whether the control object structure can maintain the connection when the control object unit j is removed from the control object structure (moves from the position of the control object unit j in the current control object column) The following formula is used as the condition.

δ (j)> δ (j_n) (1)
Here, Δ (j) is the Manhattan distance from the control target unit j ′ of the control target unit j. Here, j ′ represents a control object unit at a target position of the control object unit j. J_n is a number for uniquely identifying the control target unit adjacent to the control target unit j (n is a positive integer), and δ (j_n) is the control target of the control target unit j_n. This is the Manhattan distance from the object unit j ′. If equation (1) holds for all control object units j_n, the connectivity of the control object structure can be maintained even if the control object unit j is removed from the control object structure.

  Therefore, before starting the movement of the control object unit j to the position of the control object unit j ′, the determination by the expression (1) is performed, and as a result, control that does not satisfy δ (j)> δ (j_n) If the object unit j_n exists, the following method is taken.

  (1) Among the controlled object units j_end that satisfy δ (j_end)> δ (j), control object units for which the expression (1) holds for all the controlled object units j_end_n adjacent to the controlled object unit j_end. One is selected (FIG. 7A). Here, j_end is a control object unit located at the end in the control object structure.

  In other words, this processing is performed at a position farther from the control object unit j ′ than the control object unit j among the control object units (outer control object units) located at the ends in the control object structure. It can be said that an outer control object unit that is a certain outer control object unit and that does not break the connectivity of the control object structure even when the outer control object unit is moved is selected.

  (2) The four control objects belonging to the control object unit j_end selected in the above (1) are converted into control object units j_k (1) among the control object units j_n adjacent to the control object unit j. k = 1,..., n) are moved to four gap positions existing around the control object so that the control objects belonging to the control object units j_k and j_end have a cubic structure of 8 cells (FIG. 7B). .

  (3) The positions of the control object belonging to the control object unit j and the control object belonging to the control object unit j_end selected in the above (1) are switched (FIG. 7B). In other words, the control object belonging to the control object unit j_end is moved to the position of the control object belonging to the control object unit j. Thus, the replacement of the position of the control object (or control object unit) means that a certain control object (or a certain control object unit) moves while maintaining the connectivity of the control object structure. It means that another control object (or another control object unit) moves to the position of the certain control object (or the certain control object unit).

  (4) The control object belonging to the control object unit j is moved to the four gap positions around the control object unit j ', and the control object belonging to the control object units j and j' A cubic structure is assumed (FIG. 7D). Thereafter, the control object of the control object unit j is moved to the target position.

  If the control described above is repeated until all the control object units reach the target position, the heterogeneous formation control is completed. In this control, the work of exchanging the positions of the objects to be controlled, which has been conventionally required, is replaced in the above (3). According to the above method, the movement amount required from the initial position to the target position is the same as the movement amount when there is no replacement for all the control target units, and other movements are necessary. And not. In other words, the entire deformation of the formation and the replacement of the position of the control object are performed simultaneously by this method.

  Thus, the time required for the formation control operation can be shortened by simultaneously performing the deformation operation of the entire shape and the replacement of the control object position after the deformation without using separate processes.

[About movement of control target unit]
In the present invention, the initial formation formation state and the target formation formation state are formed by collecting a plurality of 8-mass control object units. In the above description of the movement of the 4-mass controlled object unit, it has been described that 4 squares out of 8 squares are voids, but in the embodiment of the present invention, all 8 squares are filled with the control object. Become.

  The definitions of the set S and the set G are the same as described above, but it is assumed that the 4-mass controlled object unit number j_max is an even number. This is because two 4-mass control object units are paired to form an 8-mass control object unit. In addition, between the control object number (ID) of the first type control object unit and the second type control object unit, which are the two 4-mass control object units constituting one 8-mass control object unit It is assumed that the following relationship holds.

jA + j_max / 2 = jB
Here, in the first embodiment, jA is the ID of the first type control object unit, and jB is the ID of the second type control object unit. In the second embodiment, jA is the ID of the second type control object unit, and jB is the ID of the first type control object unit. For example, when j_max = 8, jA = 0,1,2,3, jB = 4,5,6,7, and (jA, jB) = (0,4) (1,5) (2,6 ) Each set of (3, 7) constitutes 8 mass control object units.

  Although the method of moving each 4-mass control object unit is as described above, in the above description, it is assumed that one 4-mass control object unit in the 8-mass control object unit is a gap. I was able to move through the gap. On the other hand, in the initial formation formation state of the present invention, since all eight squares are filled with the control object, there is no gap and the movement cannot be freely performed. Therefore, in the first embodiment, processing is performed in the following order from CASE 1 to CASE 4.

  [CASE 1] The first type control object in the 8-mass control object unit at the position in contact with the second type control object unit jB in which the first type control object unit jA does not exist in S When there is a first type control object unit jA having a target position at any one of the following positions in the object unit jA.

-The position of the control object unit of the void of 8 squares in G at the position in contact with the 8 square control object unit that is only the second type control object unit jB in S, or
-Position of the control target unit in the gap of 8 squares in G that is in contact with the first type control target unit jA in G If there is a first type control target unit that meets the above conditions, Is selected as a control target unit (target first type control target unit) to be moved, and movement to the target position in G is performed by the operation shown in FIG.

  In other words, the target first type control target unit selection unit 11 described later that executes this process sets the second type control target unit in a state after the corresponding first type control target unit moves from the initial position. The first type control object unit in the 8-mass control object unit in S at the adjacent position, and the second in S state after the corresponding first type control object unit has moved from the initial position When there is a first type control object unit in S whose target position is the position adjacent to the type control object unit or the position where there is no control object adjacent to the first type control object unit after moving in G Selects the first type control target unit as the target first type control target unit.

  [CASE 2] There is no first type control target unit corresponding to CASE 1, and the second type control target unit jB is in the state where there is no counterpart first type control target unit jA in S Of the first type control object unit jA in the 8 mass control object unit at the position in contact with the target object, the first type control object after moving into another G in the target position in G of the control object unit When a physical unit exists.

  In this case, one of the first type control target units corresponding to the CASE 2 condition is selected as the control target unit (target first type control target unit) to be moved.

  In other words, the target first type control target unit selection unit 11 to be described later that executes this process has a corresponding first type control target unit when there is no first type control target unit corresponding to CASE 1. Is the first type control object unit in the 8-mass control object unit in S at the position adjacent to the second type control object unit in the state after moving from the initial position. When there is a first type control target unit after moving into another G at the target position of the target unit, the first type control target unit is selected as the target first type control target unit. .

  Then, move according to the following procedure.

  (1) Other first type control target unit existing at the target position in G of the target first type control target unit is defined as “first target control target unit jA ′”, and the first target control target target When another first type control target unit exists at the target position in G of the target unit jA ′, the other first type control target unit is referred to as “second expulsion target control target unit jA ″”. To do. This is repeated until the target position in G of the k-th displacement control object unit (k is a positive integer) is not occupied by another first-type control object unit.

  (2) After moving the target first-type control target unit to the gap position in the 8-mass control target unit adjacent to the first control target unit, the first control is performed according to the operations of FIGS. 7B to 7C. The positions of the target unit and the target first type control target unit are switched, and the target first type control target unit is moved to the position where the first eviction control target unit was present. The control target unit j_end shown in the left end of FIG. 7A is the “target first type control target unit”, the control target unit j is the “first expulsion control target unit”, and the control target unit j_n is “8 mass control object unit adjacent to the first eviction control object unit”. In FIG. 7B, the control object unit j_end (4-mass control object unit indicated by hatching) has moved to the gap position in the control object unit j_n. In FIG. 7C, the position of the control object unit j is Moved to the position of the second type control object unit side in the same 8-mass control object unit, and the position control object unit j_end has moved to the position where the control object unit j originally existed .

  (3) After the k-th eviction control target unit is moved to the gap position of the 8-mass control target unit adjacent to the (k + 1) th eviction control target unit, the k-th eviction control control unit is moved according to the operations of FIGS. 7B to 7C. The positions of the eviction control target unit and the (k + 1) th eviction control target unit are switched. This process is repeated in order for k = 1, 2,..., K−1 (K is the total number of k examined in (1) above).

  (4) The target position of the Kth eviction control object unit in G among the positions of the four mass control object units that do not have the control object adjacent to the current formation state as the Kth eviction control object unit Is moved to the position of the 4-mass control object unit closest to. This can be realized by the operation shown in FIG.

  [CASE 3] When there is no first type control target unit corresponding to CASE 1 and CASE 2.

  In this case, the first-type control object unit in the 8-mass control object unit at the position in contact with the second-type control object unit jB in which the corresponding first-type control object unit jA is not present in S. Select one of jA as the target 1st type control target unit, and the target 1st type in G among the positions of the 4 mass control target units where there is no control target unit adjacent to the current formation formation state It is moved to the position of the 4-mass control object unit closest to the target position of the control object unit jA.

  In other words, the target first-type control target unit selection unit 11 described later that executes this processing performs the corresponding first-type control target unit when there is no first-type control target unit corresponding to CASE 1 and CASE 2. If there is a first-type control object unit in S at a position adjacent to the second-type control object unit in a state after the object unit has moved from the initial position, the first-type control object unit Is selected as the target type 1 control target unit.

  [CASE 4] When there is no first type control target unit corresponding to CASE 1 to CASE 3.

  In this case, one of the first type control target units jA in the eight mass control target units located in the position in contact with G in S is selected as the target first type control target unit, and the current formation is formed. Of the four mass control object units that do not have a control object adjacent to the state, move to the four mass control object unit closest to the target position of the target first type control object unit jA in G.

In other words, the target first-type controlled object unit selecting unit 11 described later that executes this process sets G in S when there is no first-type controlled object unit corresponding to CASE 1 to CASE 3. The first type control target unit at the adjacent position is selected as the target first type control target unit.
By repeating the processing from CASE 1 to CASE 4 until all the first type control target units jA in S reach the target position in G, the initial formation in which all 8 squares are filled with the control target Move from the formation state to the target formation formation state of the first type control object unit.

  After that, during the initial formation state, only the second type control target unit is present, and the remaining four squares within the position of the eight square control target unit (the place where the first type control target unit originally existed) Therefore, the second type control target unit is moved to the target position in the target formation formation state through the gap using the movement of the four-mass control target unit described above. The second-type controlled object units may be moved in order from the farthest target position so as to be filled in order from the gap in the target formation formation state at a position away from the initial formation formation state.

<First embodiment>
Hereinafter, the control apparatus and method of the first embodiment will be described.

  As shown in FIG. 17, the control device includes, for example, a first type controlled object unit movement control unit 1, a second type controlled object unit movement control unit 2, and a storage unit 3.

  The control method is realized, for example, when the control device performs the processing from step S11 to step S23 described below with reference to FIGS.

The first type control target unit and the second type control target unit are associated with information indicating whether or not the control target unit has been moved to the target position. Here, unfilled_g [j] is a variable storing a value indicating whether or not the movement of the first type control target unit or the second type control target unit j to the target position is completed,
unfilled_g [j] = 0 (movement has not been completed)
unfilled_g [j] = 1 (moving is complete)
It is assumed that The initial value of unfilled_g [j] for each j is 0 (movement has not been completed). unfilled_g [j] is stored in the storage unit 3. Further, unfilled_g [j] is read from the storage unit 3 as necessary.

[First type control object unit movement control unit 1]
The first-type controlled object unit movement control unit 1 sets the first-type controlled object unit jA, which is a 4-mass controlled object unit in each 8-mass controlled object unit in the initial formation state, to the target formation state It is moved to the position of the 4-mass control object unit in each 8-mass control object unit (step S1). This step S1 is also referred to as a first stage.

  At that time, the first type controlled object unit movement control unit 1 moves the first type controlled object unit to its target position while maintaining the connectivity of the controlled object structure.

  Here, the 4-mass control object unit that is the movement destination of the first-type control object unit jA is a position corresponding to the second-type control object unit jB in the 8-mass control object unit. That is, the first type control object unit in the initial formation formation state is arranged in the shape of the second type control object unit in the target formation formation state. If a rotation operation or the like is added, the first type control object unit in the initial formation formation state can be arranged in the shape of the first type control object unit even in the target formation formation state. However, since it is assumed that the control objects in the 8-mass control object unit are the same (homogeneous), there is no need to perform an extra moving operation to match the arrangement in the 8-mass control object unit. Therefore, the method of moving to the position of the second type controlled object unit that can be moved with a smaller number of steps is adopted.

[[Target first type control object unit selection unit 11]]
The target first type control target unit selection unit 11 selects a four-mass control target unit (target first type control target unit) to be moved (step S11). Information about the selected target first type control target unit is output to the first moving unit 12, the second moving unit 13, and the third moving unit 14. The target first type control target unit is the first type control target unit jA in any of the eight mass control target units in S forming the formation.

  Specifically, one of the first-type controlled object units corresponding to any of CASE 1 to CASE 4 described above is selected as the target first-type controlled object unit j_f. At this time, CASE 3 has priority over CASE 4, CASE 2 has priority over CASE 3, and CASE 1 has priority over CASE 2. In other words, if there is a first-type controlled object unit corresponding to CASE 1, select the target first-type controlled object unit from among them, and if there is no corresponding to CASE 1, the first type corresponding to CASE 2 It is checked whether or not there is a type control target unit, and if there is a target, one target first type control target unit is selected. Similarly, if there is no first type control target unit corresponding to CASE 2, CASE 3 is examined, and if there is a target, one target first type control target unit is selected. If there is no first type control target unit corresponding to CASE 3, one target first type control target unit is selected from the first type control target units corresponding to CASE 4.

  When the target first type control target unit corresponds to CASE 1, the first moving unit 12 is executed, and when the target first type control target unit corresponds to CASE 2, the second moving unit 13 is executed. If the case corresponds to CASE 3 or CASE 4, the third moving unit 14 is executed.

[[First moving unit 12]]
The first moving unit 12 moves the target first type control target unit to the target position in G. This movement can be performed in accordance with the procedure shown in FIG. 5, starting from the operation shown in FIGS. When the movement to the target position is completed, the value of unfilled_g [j_f] corresponding to the target first type control target unit j_f is set to 1. That is, for the target first type control target unit j_f, information indicating that the movement to the target position is completed is stored in the storage unit 3.

  Thus, the 1st moving part 12 moves the target 1st type | mold control target unit selected by CASE 1 to the target position (step S12).

[[Second moving unit 13]]
The second moving unit 13 moves the target first type control target unit to the target position in G. However, in the case of CASE 2, there is another control target unit at the target position of the target first type control target unit. Since it exists, it is necessary to first move the target first type control target unit to the target position while moving the other control target unit to another gap. Specifically, the movement is performed according to the following procedure.

  (1) The other first-type control target unit existing at the target position in G of the target first-type control target unit is defined as “first eviction target control target unit jA ′”, and the eviction target control target unit. When another first type control target unit exists in the target position in G of jA ′, the other first type control target unit is set as “second eviction target control target unit jA ″”. This is repeated until the target position in G of the k-th displacement control object unit (k is a positive integer) is not occupied by another first-type control object unit.

  (2) After moving the target first-type control target unit to the gap position in the 8-mass control target unit adjacent to the first control target unit, the first control is performed according to the operations of FIGS. 7B to 7C. The positions of the target unit and the target first type control target unit are switched (details are shown in FIGS. 12 and 13), and the target first type control target unit is moved to the position where the first eviction control target unit was present. Move.

  (3) After the k-th expulsion control object unit is moved to the gap position in the 8-mass control object unit adjacent to the (k + 1) -th expulsion control object unit, the (k + 1) -th expulsion control object unit is moved according to the operation of FIG. ) The positions of the eviction control object unit and the kth eviction control object unit are switched (details are FIGS. 12 and 13), and the (k + 1) th eviction control object unit exists as the kth eviction control object unit. Move to position. This process is repeated in order for k = 1,..., K−1 (K is the total number of k examined in the above (1)).

  (4) Among the four mass control object units adjacent to the current formation state, the four mass control object closest to the target position of the Kth expulsion control object unit in G Move to unit. (Here, the K-th eviction control target unit may be located at the target position.) This can be realized by the operation shown in FIG.

  (5) When the movement to the target position is completed, the value of unfilled_g [j_f] corresponding to the target first-type controlled object unit j_f is set to 1. Further, the value of unfilled_g [j_f] of the first to the K-th eviction control object that has reached the target position is set to 1. That is, the movement to the target position is completed for the target first-type control target unit j_f, the first eviction control target object to the K-1th eviction control target object (in some cases, the Kth eviction control target object). Is stored in the storage unit 3.

  In this way, the second moving unit 13 replaces the other first type control target unit existing at the target position of the target first type control target unit selected in CASE 2 with the first eviction target control target unit. When another first type control object unit exists at the target position of the first eviction target control object unit, the process of setting the other first type control object unit as the second eviction target control object unit is performed. , K is a positive integer and is repeated until there is no other first type control target unit at the target position of the K th control target unit, and k = 1,... The target first type control object unit, the first eviction target control object unit,..., The K-1 eviction target control object unit are moved to the target position, and the Kth eviction target control object. Unit of control target for K-th eviction target It is moved to a position closest in G to the target position (step S13).

[[Third moving part 14]]
The third moving unit 14 moves the target first type control target unit to a predetermined position in G (hereinafter referred to as “provisional target position”). The provisional target position here is the target position of the target first type control target unit jA in G among the positions of the four mass control target units not including the control target adjacent to the current formation formation state. It is the position of the nearest 4-mass controlled object unit. In the case of CASE 3 or CASE 4, since the target position in G of the target type 1 controlled object unit is not in a place adjacent to the current formation state, it cannot be moved directly. The purpose is to tentatively move the target first type control target unit to the position of the control target unit having a space of 8 squares adjacent to the formation state. In the case of CASE 3 movement, the specific movement can be performed by the procedure shown in FIG. 5 starting with FIG. 10 and FIG. In the case of CASE4, the procedure shown in FIGS. 14 and 15 can be performed (the last procedure in FIG. 5). It can be said that the processes of the first moving unit 12 and the third moving unit 14 are the same except that the temporary target position is used instead of the target position.

  In this way, in the case of CASE 3 and CASE 4, the third moving unit 14 is adjacent to the current control object unit structure for the target first-type control object unit selected in CASE 3 and CASE 4. The position is moved to a position within G that is closest to the target position of the target first type control target unit (step S14).

[[First control unit 15]]
The first control unit 15 determines whether or not the movement to the target position has been completed for all the first type control target units of the current formation, and the first type control target unit that has not been moved is determined. If there is one (for example, if there is at least one j of unfilled_g [j] = 0), the target first-type controlled object unit selecting unit 11, the first moving unit 12, the second moving unit 13, and the third moving unit 14 are used. Is executed.

  When the movement to the target position is completed for all the first type control object units (for example, if unfilled_g [j] = 1 for all j), the second type control object unit movement control unit 2 is executed. Let

  Thus, the 1st control part 15 is the target 1st type | mold control target unit selection part 11, the 1st moving part 12, the 2nd moving part until all the 1st type | mold control target units move to a target position. 13 and the third moving unit 14 are controlled to be repeated.

[Second Type Control Object Unit Movement Control Unit 2]
The second type control target unit movement control unit 2 moves the second type control target unit in each of the eight mass control target units in the initial formation formation state S to each target position in the target formation formation state ( Step S2). This step S2 is also referred to as a second stage.

  At that time, the second type controlled object unit movement control unit 2 moves the second type controlled object unit to the target position while maintaining the connectivity of the controlled object structure.

  Since only the second type control object unit exists in the initial formation formation state after the execution of the first type control object unit movement control unit 1, only the first type control object unit exists in the target formation formation state. , There are four squares between each control object unit. Therefore, it is possible to move through this gap.

  The second type control target unit movement control unit 2 includes, for example, a target second type control target unit selection unit 21, a movement control unit 22, and a second control unit 23 as shown in FIG.

  Hereinafter, specific processing of each unit will be described.

[[Target second type control object unit selection unit 21]]
The target second type control target unit selection unit 21 selects a four-mass control target unit (target second type control target unit) to be moved. The target second type control target unit here is the second type control target unit jB in any of the eight mass control target units forming the initial formation formation state, and is still moved to the target position. Is a controlled object unit that has not been completed (unfilled_g [j] = 0) and is located in the G position farthest away from the controlled object unit j ′ at the reference position (X_first, Y_first, Z_first) in Manhattan distance Is a second-type control object unit with a target position. The reference position here may be any position of the 8 mass control object unit at the position in contact with G among the 8 mass control object units in S, but the first type control object unit movement control unit 1 It is convenient to use the initial position of the first type control object unit that first moved from S.

  In other words, the target second type control target unit selection unit 21 selects a second type control target unit that has not reached the target position as the target second type control target unit (step S21). In the following description, it is assumed that the target second-type controlled object unit is j_f.

[[Movement control unit 22]]
As shown in FIG. 17, the movement control unit 22 includes a connectivity determination unit 221, a replacement second type control target unit selection unit 222, a replacement second type control target unit movement control unit 223, and a replacement second type control target. For example, an object unit extrusion control unit 224 and a target second type control object unit movement control unit 225 are provided.

  The movement control unit 22 includes a connectivity determination unit 221, a replacement second type control target unit selection unit 222, a replacement second type control target unit movement control unit 223, a replacement second type control target unit extrusion control unit 224, and It is determined whether or not the connectivity of the control object structure is maintained when the target second type control object unit movement control unit 225 moves the target second type control object unit movement control unit 225 to the target position. ) If it is determined that the connectivity of the control object structure is maintained, the target type 2 control object unit is moved to the target position, and (2) it is determined that the connectivity of the control object structure is not maintained. The second type control object unit that is a second type control object unit that can be moved while maintaining the connectivity of the control object structure to the position of the target second type control object unit. Select the replacement second type control target unit target second type The target second type control subject unit is moved to the target position after moving to the position of your object units.

  Hereinafter, specific processing of each unit will be described.

[[[Connectivity determination unit 221]]]
The connectivity determination unit 221 determines whether the connectivity of the controlled object structure is maintained by moving the target second type controlled object unit j_f (step S221), and the connectivity is maintained. Then, the target second type control target unit movement control unit 225 is executed, and if the connectivity is not maintained, the replacement second type control target unit selection unit 222 is executed.

  Specifically, in the equation (1), j is replaced with j_f, and j ′ is a predetermined position that is the movement destination of j_f, for all second type control target units jB adjacent to j, the equation (1 ) Is determined to maintain connectivity, otherwise it is determined that connectivity is not maintained.

  If it is determined that the connectivity is maintained, the target second-type controlled object unit movement control unit 225 is executed. If it is determined that the connectivity is not maintained, the replacement second-type controlled object unit selection is performed. The unit 222 is executed. That is, when connectivity is not maintained, another second type control object unit that has not finished moving to the target position is used as an exchange second type control object unit, and the exchange second type control object unit is Move to the vicinity of the target second type control target unit, move the replacement second type control target unit to the current position of the target second type control target unit, and then move the target second type control target unit By doing so, it is intended that the connectivity is not interrupted.

[[[Exchange type 2 control object unit selector 222]]]
The replacement second type control target unit selection unit 222 is configured so that the connectivity of the control target structure is not interrupted even if the target second type control target unit j_f is moved. In order to move the type 2 control object unit to the current position of the target type 2 control object unit j_f, the “second type 2 control object unit” (hereinafter referred to as “exchange type 2 control object unit”). "Unit") is selected (step S222). The replacement second type control target unit selected here is a second type control target unit that has not yet been moved to the target position.

  Specifically, among the outer control target units that are second type control target units located outside (end points) in the current control target object structure, at the destination of the target second type control target unit j_f The outer control object unit located at a position farther from the control object unit j_f when viewed from the control object unit j ′ at the target position in a certain G, and the connectivity of the control object structure is maintained even if it is moved. One uninterrupted outer control object unit is selected and set as a replacement second type control object unit.

  Specifically, for example, it can be realized by the following process (1).

  (1) From the position of the target second-type controlled object unit j_f, the adjacent second-type controlled object unit jB having a large δ value (Manhattan distance as viewed from the controlled object unit j ′) is traced, and further δ A second type control target unit jB that cannot reach the control target unit having a large value is detected, and is set as a replacement second type control target unit j_end.

[[[Exchange type 2 controlled object unit movement control unit 223]]]
The replacement second type control object unit movement control unit 223 selects the second type control object belonging to the replacement second type control object unit j_end selected by the replacement second type control object unit selection unit 222 as the target second type. Control is performed so as to move to the gap in the position of the 8-mass control object unit adjacent to the control object unit j_f (step S223). Specifically, for example, it is realized by the following processes (1) to (4).

  (1) An 8-mass control object that is in the position of an 8-mass control object unit adjacent to the target second-type control object unit j_f and that does not overlap with the replacement second-type control object unit j_end Among the unit positions, from the target second-type controlled object unit j_f to the position adjacent to the action a = 3,4,6 direction (that is, the negative direction of any of the x, y, and z axes) A second type control object unit j_f_n (hereinafter referred to as “adjacent gap position”) within the position of a certain 8-mass control object unit is selected. The reverse direction of the adjacent direction at that time is stored in a_ex.

  (2) If the corresponding adjacent gap position j_f_n is not found in (1) above, it is the position of the 8-mass control object unit adjacent to the target second-type control object unit j_f, and the exchange second Among the positions of the 8 mass control object units that do not overlap with the position of the type control object unit j_end, from the target second type control object unit j_f, the direction of action a = 1, 2, 5 (ie, x 2nd type control object unit j_f_n within the position of the 8-mass control object unit adjacent in the positive direction of any of (y, y, z axes). The reverse direction of the adjacent direction at that time is stored in a_ex. Be sure to process in the order of (1) → (2). This may be selected in (1) in the process of the replacement second-type controlled object unit extrusion controller 224 described later using the second-type controlled object unit j_f_n selected in (2). This is because it is essential for maintaining the connectivity of the control object structure that no second type control object unit exists.

(3) The path following the inside of the control object structure from the position of the exchange type 2 control object unit j_end to the adjacent gap position j_f_n (sequence of each position of the control object unit in S corresponding to the path) Calculate the position in the road
pass_j_f [nf] (nf = 0,1,2,…, nf_max)
Store as. (Pass_j_f [0] = j_end, pass_j_f [nf_max] = j_f_n.)

  (4) The exchange type 2 controlled object unit j_end is moved to the gap in the controlled object unit pass_j_f [1]. For example, if the movement is in the positive direction of the X axis, it can be moved by the procedure shown in FIG. 8, and if the movement is in the negative direction of the X axis, it can be moved by the procedure shown in FIG. The movement of the Y axis and the Z axis in the positive direction or the negative direction can be similarly performed. Thereafter, the control target unit j_end is moved while following the control target unit in the path stored in pass_j_f until the gap in the control target unit j_f_n is reached. In each movement step, the movement is performed by the method shown in FIG. 10, for example, if the movement is in the positive X direction, and by the method shown in FIG. 11, if the movement is in the negative direction. The movement of the Y axis and the Z axis in the positive direction or the negative direction can be similarly performed.

[[[Exchange second type control object unit extrusion control unit 224]]]
The replacement second type control target unit extrusion control unit 224 moves the replacement second type control target unit j_end to the current position of the target second type control target unit j_f (step S224). Along with this, the target second type control object unit j_f moves to the position of the first type control object unit in the same 8-mass control object unit. At this time, the adjacent direction may be changed based on a_ex. For example, when a_ex = 1 (the positive direction of the X axis), the exchange can be realized by moving the control object shown in FIG. Similarly, when a_ex = 3 (the negative direction of the X axis), the exchange can be realized by moving the control object shown in FIG. The exchange may be similarly performed for the positive direction or the negative direction of the Y axis and the Z axis.

[[[Target second type control object unit movement control unit 225]]]
The target second type control target unit movement control unit 225 moves the target second type control target unit j_f to the target position in G (step S225). The movement operation is the same method as the replacement second type control target unit movement control unit 223 (for example, movement in the procedure illustrated in FIGS. 10 and 11). When the target second type control target unit j_f is moved to the target position and the movement is completed, the value of unfilled_g [j_f] is changed to 1. 1 is a value indicating that the control target unit has reached the target position.

[[Second control unit 23]]
The second control unit 23 determines whether all the second type control target units in the initial formation state S have reached the target position, and if not, the target second type control target unit selection unit Control is returned to 21 to repeat the movement. If completed, it is determined that the movement to the target train formation state has been completed, and the process ends. For example, the value of unfilled_g [j] is confirmed in order from the control object unit j = 0, and if there is j such that unfilled_g [j] = 0, the target second type control object unit selection unit is executed, and for all j If unfilled_g [j_f] = 1, the process ends.

  In this way, the second control unit 23 repeats the processes of the target second type control target unit selection unit 21 and the movement control unit 22 until there is no second type control target unit that has not reached the target position. Control is performed (step S23).

<Second embodiment>
In the first embodiment, in the case where a plurality of control object units are continuous in a direction parallel to the movement direction, the time for starting the movement of each control object unit at the initial position to the target position is the movement direction. In order from the first control object unit of the first control object unit, a method in which the control object unit that started moving to the target position one time before the target position arrives at the target position, that is, one control object unit that continues in the movement direction. The method of moving one by one was adopted.

  On the other hand, if the space in the control object unit structure is fully used, a plurality of control object units can be simultaneously moved to the target position. Here, if the control object unit that is about to start moving can start moving within a certain time from the start time of the control object unit that started moving the last time, the time required for the entire deformation Can be proportional to the square of the number of control object units.

  Here, it is assumed that the initial position set S and the target position set G are in contact with each other, and one of the positions of the control object units in the initial position set S in contact with the target position set G is connected to the connection position Gate_S. (X_Gate, Y_Gate, Z_Gate). In other words, one of the positions included in the initial position set S and in contact with the target position set G is the connection position Gate_S.

  All control target units enter the target position G through the connection position Gate_S. As in the first embodiment, the control device moves the first type control target unit to the target position G on the first stage, and moves the second type control target unit to the target position G on the second stage. Hereinafter, a case where the first type control target unit is jB and the second type control target unit is jA will be described as an example.

  In the first stage, the order of the first type control object unit starting to move is the first type control object unit having an initial position in the initial position S where the Manhattan distance from the connection position Gate_S is small. From j, the first type control target unit entering the target position G is selected.

  In the second stage, the order in which the second-type controlled object units start moving is the second position in the initial position S in the target position G where the target position is a position where the Manhattan distance from the connection position Gate_S is large. The second type control object among the second type control object unit j_end that can be reached by following the position where δ (Manhattan distance from the connection position Gate_S) is large within the initial position S from the type control object unit j Select the δ value of the second type control object unit adjacent to the object unit j_end that is smaller than the δ value of the second type control object unit j_end, and control the second type control object unit j_end to the second type control. It is assumed that the second type control target unit j is movable by replacing the target unit j, and the second type control target unit j is moved into the target position G.

  As for the start time, if the first type control target unit that is about to start moving is dδ larger in d value than the initial position of the first type control target unit that started moving one time before, the movement starts The first-type controlled object unit to be moved starts to move after a tv-dδ time step from the movement start time of the first-type controlled object unit that has started moving one time ago. Here, tv is a positive integer equal to or greater than 2, for example, tv = 2.

  Similarly, for the start time, when the second type control object unit that is about to start moving is larger by dδ in the δ value than the initial position of the second type control object unit that started moving one time ago, The second type control target unit that is about to start moving starts moving after a tv-dδ time step from the movement start time of the second type controlled target unit that started moving one time ago.

  In this way, when the second type control target unit to be moved is tv = 2, the second type control target unit moves at the same time while keeping a distance of at least one first type control target unit from each other. Will do.

  Further, when the position of the first-type control object unit is changed, the operation of the first-type control object unit changes the Manhattan distance from the connection position Gate_S when the position of the first-type control object unit is changed. Only when accompanied by movement in the direction of decreasing the value, all the first type control target units subsequent to the first type control target unit whose positions are to be switched are stopped by the tw time step. tw is a positive integer greater than or equal to 2, for example, tw = 2.

  Similarly, when the position of the second type control object unit is changed, the operation of the second type control object unit is changed from the connection position Gate_S to the Manhattan when the position of the second type control object unit is changed. Only when accompanied by movement in the direction of decreasing the distance, all the second type control target units subsequent to the second type control target unit whose positions are to be switched stop operating for tw time steps.

  Details of the operation of the control device and method of the second embodiment will be described below.

  As shown in FIG. 20, the control device includes, for example, a first type controlled object unit movement control unit 1 and a second type controlled object unit movement control unit 2.

  The first type control object unit movement control unit 1 includes a first path determination unit 16, a first waiting time adjustment unit 17, and a first movement unit 18.

  The second type controlled object unit movement control unit 2 includes a second path determination unit 24, a second waiting time adjustment unit 25, and a second movement unit 26.

  The control method is realized, for example, when the control device performs the processes of steps S16, S17, S18, S24, S25, and S26 described below with reference to FIG.

  Hereinafter, the process different from the first embodiment will be mainly described. Description of the same parts as those in the first embodiment is omitted.

  Details of the operation of the row controller of the present invention will be described below.

[First path determination unit 16]
The first path determination unit 16 sets the path until each first type control target unit reaches the target position through the connection position while maintaining the connectivity of the control target structure to the initial position close to the connection position Gate_S. It determines in order from a path | pass of a certain 1st type | mold control target unit (step S16).

  Information about the determined path is output to the first waiting time adjusting unit 17 and the first moving unit 18.

  For example, the first path determination unit 16 performs the processes (1) to (3) described below so that each first-type control target unit j moves from the initial position to the target position. Calculate the path.

  Through the following processing, each position of the path is stored in pass [j] [t] (t = 0, 1, 2,..., T_max [j]). The time at which the first type control target unit j is replaced with the first type control target unit j ′ is exchange [j] [t] (t = 0, 1, 2,..., T_max [j]) Stored in The time when the first type control target unit j instructs to wait for the subsequent first type control target unit is waiting_at [j] [t] (t = 0,1,2, ..., t_max [j]) Stored in Note that waiting_at [j] [t] = 1 represents waiting, and waiting_at [j] [t] = 0 represents no waiting.

  (1) The first path determination unit 16 sets the virtual position of each first type control object unit as the initial position of each first type control object unit. Here, the process of the 1st path | pass determination part 16 only determines a path | pass, and in the process of the 1st path | pass determination part 16, the actual position of a 1st type | mold control target unit does not change. In order to distinguish from the actual position of each first-type controlled object unit, the term “virtual position” is used.

  The first path determination unit 16 initializes exchange [j] [t], waiting_at [j] [t] to 0 for all j and t.

  Then, the first path determination unit 16 executes the processes (2) to (3) from the first type control target unit j_max / 2 to the first type control target unit j_max-1. Here, j numbers are assigned in ascending order of the δ value. That is, δ (j_max / 2) ≦ δ (j_max / 2 + 1) ≦ Δj_max / 2 + 2) ≦.

  (2) The first path determination unit 16 determines the second type control target from which there is no gap in the control target unit, in other words, the corresponding first type control target unit from the initial position of the first type control target unit j. The path from the object unit to the connection position Gate_S is calculated and stored in pass [j] [t]. The first path determination unit 16 stores the t number in pass where the connection position Gate_S at this time is stored in each of time_at_gate [j] and time_at_end [j]. The first path determination unit 16 determines that the movement start time t_start [j] of the first type control target unit j is t_start [j] = t_strat [when δ (j) = δ (j−1). If δ (j) = δ (j−1) +1 in j−1] + tv, t_start [j] = t_strat [j−1] + tv−1. The first path determination unit 16 sets the pass value of t <t_start (that is, the pass value before the start of movement) as the initial position of the first type control object unit j.

  (3) The first path determination unit 16 calculates the path from the connection position Gate_S to the target position in the target position G of the first type control target unit j in the pass from t = time_at_end [j] +1. And store. The processing differs depending on whether or not the target position of the first type control target unit j is filled with another first type control target unit. Examples of the process (3) are the following processes (3-0) to (3-3).

  (3-0) The first path determination unit 16 sets jm ← j.

  (3-1) If the target position of the first type control target unit jm is filled with another first type control target unit j ′, the first path determination unit 16 The path to the first type control object unit j_n adjacent to the type 1 control object unit j ′ is added to pass [j] [t] from t = time_at_end [j] +1. The first path determination unit 16 preferentially selects the case in which the direction a_ex from j_n to j ′ is 1, 2, 5 as j_n. Only when there is no such j_n, a_ex = 3,4,6 Select j_n for. The first path determination unit 16 sets exchange [j] [t_ex] ← a_ex, where t_ex is the time when the first type control target unit jm reaches j_n. The first path determination unit 16 adds j ′ to the tail of pass, and sets t at that time as time_at_end [j]. The first path determination unit 16 assigns the value of the virtual position of the first type control target unit j ′ to the value of the virtual position of the first type control target unit jm, and performs the process (3-2). . When the target position of the first type control target unit jm is not filled with another first type control target unit j ′, the first path determination unit 16 performs the process of (3-3).

  (3-2) When the target position of the first type control target unit j ′ is occupied by another first type control target unit j ″, the first path determination unit 16 determines that jm ← j Repeat '3-1' with ', j' ← j ''. If not, perform the process in (3-3).

  (3-3) If there is no replacement in the process of (3-1), the first path determination unit 16 determines the unfilled position in the target position G from the target position of the first type control target unit jm. The target position from jm to j_target, with the closest Manhattan distance within the target position, the position in contact with the filled position in the target position G as the target position j_target, the filled position in the target position G in contact with j_target as j_target ' Add a route to the pass via the filled position in G. Add j_target at the end of pass. The first path determination unit 16 sets the t value of pass storing j_target as time_at_end [j].

  When there is a replacement in the process of (3-1), the first path determination unit 16 is closest to the target position of the first type control object unit j ′ within the unfilled position within the target position G. At the Manhattan distance, “From the current virtual position of the first type control object unit j ′, the value of δ from the connection position Gate_S is greater than the δ value at the current virtual position of the first type control object unit j ′. The target from j 'to j_target', where the target position j_target is the position in contact with the filled position in the target position G that can be traced so as not to decrease, and the filled position in the target position G in contact with j_target is j_target '. Add a path to the pass via the filled position in position G. Add j_target at the end of pass. The first path determination unit 16 sets the t value of pass storing j_target as time_at_end [j]. In this way, the first path determination unit 16 determines a path so as not to follow a path where δ decreases so as not to collide with the subsequent first-type control target unit.

  (3-4) In addition, the first path determination unit 16 at time t when the movement of the first type control object unit in the pass is in the direction of decreasing the Manhattan distance from the connection position Gate_S. , Waiting_at [j] [t] ← 1. The process of setting waiting_at [j] [t] ← 1 may be performed by the first waiting time adjustment unit 17.

[First waiting time adjustment unit 17]
The first waiting time adjustment unit 17 determines the waiting time of each first type control target unit so that each first type control target unit does not collide (step S17).

  Information about the determined waiting time is output to the first moving unit 18.

  The first waiting time adjustment unit 17 corrects the pass value in consideration of the waiting time of another first type control target unit when the first type control target unit is replaced. When the first type control target unit j is replaced at time t, the first waiting time adjustment unit 17 is time t after all the first type control target units subsequent to the first type control target unit j. Shift the pass value by tw time steps.

  For example, the first waiting time adjustment unit 17 determines the waiting time for each first-type controlled object unit by performing the processes (1) to (2) described below.

  (1) The first waiting time adjustment unit 17 executes the process (2) from the first type control target unit j_max / 2 to the first type control target unit j_max−1.

  (2) The first waiting time adjustment unit 17 executes the following process (2-1) from t = 0 to time_at_end [j].

  (2-1) When the waiting_at [j] [t] is a value other than 0, the first wait time adjustment unit 17 first type control object unit j_sub (j_sub) subsequent to the first type control object unit j > j) For all, pass [j_sub] [t '] ← pass [j_sub] [t'-tw], exchange [j_sub] [t'] ← exchange [j_sub] [t'-tw] (t '≧ t + tw), waiting_at [j_sub] [t '] ← waiting_at [j_sub] [t'-tw] (t' ≧ t + tw), pass [j_sub] [t + tw-1] ← pass [j_sub] [t], pass [j_sub] [t + tw-2] ← pass [j_sub] [t], pass [j_sub] [t + 1] ← pass [j_sub] [t], exchange [j_sub] [t] ← 0, exchange [j_sub] [t + tw-1] ← 0, exchange [j_sub] [t + tw-2] ← 0, exchange [j_sub] [t + 1] ← 0, waiting_at [j_sub] [t] ← 0 , waiting_at [j_sub] [t + tw-1] ← 0, waiting_at [j_sub] [t + tw-2] ← 0, waiting_at [j_sub] [t + 1] ← 0. When t <t_start [j_sub], t_start [j_sub] is incremented tw times. The first waiting time adjustment unit 17 increments time_at_gate [j_sub] tw times when t <time_at_gate [j_sub]. The first waiting time adjustment unit 17 increments time_at_end [j_sub] tw times when t <time_at_end [j_sub].

[First moving unit 18]
The first moving unit 18 moves each first-type controlled object unit according to the path determined by the first path determining unit 16 and the waiting time determined by the first waiting time adjusting unit 17 (step S18).

  Specifically, the first moving unit 18 moves the first type control target unit according to the determined path and waiting time by performing the process (1) described below.

  (1) The first moving unit 18 repeats the following process (1-1) from time t = 0 to time_at_end [j_max] −1.

  (1-1) When the exchange [j] [t] is a value other than 0 for all the first-type controlled object units j, the first moving unit 18 moves to the position of pass [j] [t]. A certain first-type controlled object unit j is moved to the position of the first-type controlled object unit at the position of pass [j] [t + 1]. Hereinafter, the first type control target unit located at the position of pass [j] [t + 1] is set as a new first type control target unit j. When exchange [j] [t] → a_ex, and a_ex = 1, 2, and 5, movement is performed by the operation of FIG. When exchange [j] [t] → a_ex and a_ex = 3,4,6, the movement is performed by the operation of FIG.

  When exchange [j] [t] is 0, the first moving unit 18 sets the first type control target unit j at the position of pass [j] [t] to pass [j] [t + 1]. Move to position. When t ≠ time_at_end [j] −1, the first moving unit 18 moves the first type control target unit by the operation shown in FIG. 10 or FIG. When t = time_at_end [j] −1, the first moving unit 18 moves the first type control target unit by the operation shown in FIG. 14 or FIG. The first moving unit 18 does nothing when pass [j] [t] = pass [j] [t + 1].

[Second path determination unit 24]
The second path determination unit 24 determines a path far from the connection position to reach the target position through the connection position while each second-type control target unit maintains the connectivity of the control target structure. Are determined in order from the path of the second type controlled object unit (step S24).

  Information about the determined path is output to the second waiting time adjusting unit 25 and the second moving unit 26.

  For example, the second path determination unit 24 performs the processes (1) to (3) described below so that each second type control target unit j moves from the initial position to the target position. Calculate the path.

  Through the following processing, each position of the path is stored in pass [j] [t] (t = 0, 1, 2,..., T_max [j]). The time at which the second type control object unit j is replaced with the second type control object unit j ′ is exchange [j] [t] (t = 0,1,2,..., T_max [j]) Stored in The time when the second type control target unit j instructs to wait for the subsequent second type control target unit is waiting_at [j] [t] (t = 0,1,2, ..., t_max [j]) Stored in Note that waiting_at [j] [t] = 1 represents waiting, and waiting_at [j] [t] = 0 represents no waiting.

  (1) The second path determination unit 24 sets the virtual positions of all the second type control target units as positions after the end of the process of the first moving unit 18. The second path determination unit 24 initializes exchange [j] [t], waiting_at [j] [t] to 0 for all j and t. The second path determination unit 24 executes the processes (2) to (3) from the second type control object unit 0 to the second type control object unit j_max / 2-1. Here, the number j is assigned in the descending order of the Manhattan distance δ from the connection position Gate_S of the target position of each second-type controlled object unit in the target position G. That is, δ (0) ≧ δ (1) ≧ δ (2) ≧... ≧ δ (j_max / 2-2) ≧ δ (j_max / 2-1).

  (2) The second path determination unit 24 follows the second type control target unit from the start position of the second type control target unit j to the path where the δ value increases and satisfies the formula (1). Find the type control object unit and set it as j_start [j]. The second path determination unit 24 determines that the movement start time t_start [j] of the second type control target unit j_start [j] is tv- (δ (j_start [j])-δ (j_start) of t_start [j-1]. [j-1])) After a time step. The second path determination unit 24 sets the pass value of t <t_start (before movement start) as the initial position of the second type control object unit j_start [j].

  The second path determination unit 24 executes the following processes (2-1) and (2-2) depending on whether j_start [j] = j or not.

  (2-1) When j_start [j] ≠ j, the second path determination unit 24 routes to the second type control target unit j_n adjacent to the second type control target unit j in the initial position S. Is added to the pass from t = 0. The second path determination unit 24 preferentially selects the case where the direction a_ex from j_n to j is 1, 2, 5 as j_n. Only when there is no such j_n, the case of a_ex = 3,4,6 Choose j_n. The second path determination unit 24 sets exchange [j] [t_ex] ← a_ex, where t_ex is the time when the second type control target unit j reaches j_n. The second path determination unit 24 adds j to the tail of pass, and sets t at that time as time_at_end [j]. The second path determination unit 24 substitutes the value of the virtual position of the second type control target unit j_end for the value of the virtual position of the second type control target unit j_end. Also, the second path determination unit 24 sets waiting_at [j] [t] ← 1 for the time of movement in the direction in which the δ value increases in the pass. The process of waiting_at [j] [t] ← 1 may be performed by the second waiting time adjustment unit 25. When j_start [j] = j, the process proceeds to (2-2).

  (2-2) The second path determination unit 24 passes the path from the position of the second type control target unit j to the target position of the second type control target unit j in the target position G through the connection position Gate_S. And add the path to pass. The last pass is the target position of j.

[Second waiting time adjustment unit 25]
The second waiting time adjustment unit 25 determines the waiting time for each second type control target unit so that each second type control target unit does not collide (step S25).

  Information about the determined waiting time is output to the second moving unit 26.

  The second waiting time adjustment unit 25 corrects the pass value in consideration of the waiting time of another second type control target unit when the second type control target unit is replaced. When the second type control target unit j is replaced at time t, the second waiting time adjustment unit 25 is after time t of all second type control target units subsequent to the second type control target unit j. Shift the pass value by tw time steps.

  For example, the second waiting time adjustment unit 25 determines the waiting time for each second type control target unit by performing the processes (1) to (2) described below.

  Information about the determined waiting time is output to the second moving unit 26.

  (1) The second waiting time adjustment unit 25 executes the process (2) from the second type control target unit 0 to the second type control target unit j_max.

  (2) The second waiting time adjustment unit 25 executes the following process (2-1) from t = 0 to time_at_end [j].

  (2-1) The second waiting time adjustment unit 25, when waiting_at [j] [t] is a value other than 0, the second type control target unit j_sub (j_sub) subsequent to the second type control target unit j > j) For all, pass [j_sub] [t '] ← pass [j_sub] [t'-tw], exchange [j_sub] [t'] ← exchange [j_sub] [t'-tw] (t '≧ t + tw), waiting_at [j_sub] [t '] ← waiting_at [j_sub] [t'-tw] (t' ≧ t + tw), pass [j_sub] [t + tw-1] ← pass [j_sub] [t], pass [j_sub] [t + tw-2] ← pass [j_sub] [t], pass [j_sub] [t + 1] ← pass [j_sub] [t], exchange [j_sub] [t] ← 0, exchange [j_sub] [t + tw-1] ← 0, exchange [j_sub] [t + tw-2] ← 0, exchange [j_sub] [t + 1] ← 0, waiting_at [j_sub] [t] ← 0 , waiting_at [j_sub] [t + tw-1] ← 0, waiting_at [j_sub] [t + tw-2] ← 0, waiting_at [j_sub] [t + 1] ← 0. When t <t_start [j_sub], t_start [j_sub] is incremented tw times. The second waiting time adjustment unit 25 increments time_at_gate [j_sub] tw times when t <time_at_gate [j_sub]. The second waiting time adjustment unit 25 increments time_at_end [j_sub] tw times when t <time_at_end [j_sub].

[Second moving unit 26]
The second moving unit 26 moves each second type control target unit according to the path determined by the second path determining unit 24 and the waiting time determined by the second waiting time adjusting unit 25 (step S26).

  Specifically, the second moving unit 26 moves the second type control target unit according to the determined path and waiting time by performing the process (1) described below.

  (1) The second moving unit 26 repeats the following process (1-1) from time t = 0 to time_at_end [j_max] −1.

  (1-1) When the exchange [j] [t] is a value other than 0 for all second-type controlled object units j, the second moving unit 26 moves to the position of pass [j] [t]. A certain second type controlled object unit j_start [j] is moved to the position of the second type controlled object unit at the position of pass [j] [t + 1]. Hereinafter, the second type control target unit j located at the position of pass [j] [t + 1] is set as a new second type control target unit j_start [j]. The second moving unit 26 performs exchange [j] [t] → a_ex, and when a_ex = 1, 2, 5, the movement is performed by the operation of FIG. The second moving unit 26 performs exchange [j] [t] → a_ex, and when a_ex = 3,4,6, moves by the operation of FIG.

  When exchange [j] [t] is 0, the second moving unit 26 converts the second type control object unit j_start [j] at the position of pass [j] [t] to pass [j] [t + Move to position 1]. When t = time_at_end [j] −1, the second moving unit 26 moves by the operation shown in FIG. However, the second moving unit 26 does nothing when pass [j] [t] = pass [j] [t + 1].

  As shown in the following equation, even if each control object unit starts with a time difference of tv- (δ (Mi) -δ (Mi-1)), the waiting time until the last control object unit starts Is linear. Here, Mi is a control object unit that starts moving at the current time i, and Mi-1 is a control object unit that starts moving at time i-1 one hour before the current time i. .

Σ _{i = 1} ⁿ {tv- (δ (Mi) -δ (Mi-1))} = tv (n-1)-(δ (Mn) -δ (M0)) <tvn + n = (tv + 1 ) n = O (n)
For this reason, by the above method, the formation deformation in the execution time proportional to the first power of the number of control object units can be realized.

<Modification>
In the above description, in the first embodiment, jA is the first type control object unit and jB is the second type control object unit. In the above description, in the second embodiment, jB is the first type control object unit and jA is the second type control object unit.

  However, in the first embodiment, jB may be the first type control target unit and jA may be the second type control target unit. Similarly, in the second embodiment, jA may be a first type control object unit and jB may be a second type control object unit.

  In the first embodiment, when jB is the first type control object unit and jA is the second type control object unit, the first type control object unit corresponds to jA in the target position G. The second type control target unit is a position corresponding to jB in the target position G. In the second embodiment, when jA is the first type control object unit and jB is the second type control object unit, the first type control object unit corresponds to jB in the target position G. The position of the second-type controlled object unit becomes a position corresponding to jA in the target position G.

  In the above description, the first-type control object unit and the second-type control object unit have shapes each consisting of the 4-mass control object unit illustrated in FIG. 4B, and these 8-cell control objects are combined. Although it has been described that a unit is a basic component and a plurality of the basic components are connected to form a formation, the present invention is not necessarily limited to this shape.

  The point of the present invention is that the first-type control object unit and the second-type control object unit have complementary shapes having gaps around the first-type control object unit and the second-type control object unit. When a combined shape (eight-cubic cube shape in the above example) formed by combining units is a basic component and a plurality of basic components are connected to form a formation, each control object unit Then, it is to move while maintaining this unit. The basic idea is to use this gap to efficiently move in a row using the fact that each of the first type control target unit and the second type control target unit has a gap around it. Here, the “surrounding gap” relating to the first type control target unit means a position where the first type control target unit does not belong within the basic component, and the “surrounding gap” relating to the second type control target unit. "" Refers to the position where the second type control object unit does not belong in the basic component.

  Therefore, the first type control target unit and the second type control target unit are not limited to the example of FIG. 4, and may have a complementary shape and be configured to satisfy the following conditions. That is, the first-type control object unit and the second-type control object unit are (1) a length M (M ≧ 2 in each axis direction in a three-dimensional orthogonal coordinate system, where the length of one control object Is a partial structure in a cubic space having a length of 1) (hereinafter, this space is referred to as a metamodule), and (2) the number of control objects included in the control object unit in the metamodule. And the number of parts (that is, voids) other than the control object unit in the metamodule is equal, and (3) includes a structure in which M control objects are adjacent in each axial direction. If the number of control objects included in the control object unit is U, U is preferably an integer of 4 or more.

  Actually, the first-type controlled object unit and the second-type controlled object unit illustrated in FIG. 4 are (1) a meta-module part composed of a cube of 8 squares with a length M = 2 in each axial direction. (2) The number of control objects in the control object unit is equal to four, and the number of voids in the metamodule is equal to four, and (3) Two control objects are adjacent in each axial direction It is included. In this case, U = 4.

<Effect>
With such a configuration, while considering the presence of a large number of control objects, maintaining a state in which the control objects remain in contact with each other from a formation state at any initial position, the formation at any other target position Heterogeneous formation control can be arranged in an execution time proportional to the square of the number of objects to be controlled in a shorter time than the conventional method in an environment where there are obstacles to the formation state.

  Thus, for example, each control object such as a control object equipped with a camera or a control object equipped with a wheel has a different role, and each control object is placed at an appropriate position in the control object corps row. In addition, the operation of maintaining and controlling the shape of the formation before and after the replacement becomes possible. Moreover, it is not necessary to implement all functions necessary for all control objects.

[Program and recording medium]
When the processing in each part of the control device is realized by a computer, the processing contents of the functions that each part of these devices should have are described by a program. Then, by executing this program on a computer, the processing of each part is realized on the computer.

  The program describing the processing contents can be recorded on a computer-readable recording medium. As the computer-readable recording medium, for example, any recording medium such as a magnetic recording device, an optical disk, a magneto-optical recording medium, and a semiconductor memory may be used.

  The processing of each unit may be configured by executing a predetermined program on a computer, or at least a part of these processing may be realized by hardware.

  Needless to say, other modifications are possible without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1 1st type | mold control object unit movement control part 11 Target 1st type | mold control object unit selection part 12 1st movement part 13 2nd movement part 14 3rd movement part 15 1st control part 16 1st path determination part 17 Time Adjustment unit 18 First movement unit 2 Second type control target unit movement control unit 21 Target second type control target unit selection unit 22 Movement control unit 221 Connectivity determination unit 222 Replacement second type control target unit selection unit 223 Replacement second type control object unit movement control unit 224 Replacement second type control object unit extrusion control unit 225 Target second type control object unit movement control unit 23 Second control unit 24 Second path determination unit 25 Time adjustment unit 26 Second moving unit 3 Storage unit

Claims (6)

There are a plurality of control object units, and each control object unit is composed of a first type control object unit and a second type control object unit, and the first type control object unit and the second type control object unit. Is composed of U control objects (U is an integer of 4 or more),
The control object unit has a predetermined initial position and a predetermined target position.The set of initial positions is S, the set of target positions is G, and the target position of the first type control object unit is The target position of the control object unit of the first type control object unit, the target position of the second type control object unit is the target position of the control object unit of the second type control object unit,
The first type control object unit and the second type control object unit are adjacent to the other first type control object unit and the second type control object unit, so that the first type control object unit and the second type control object unit. When the object unit forms a block of control object structure, the connectivity of the control object structure is called,
A first type control object unit movement control unit that moves the first type control object unit of each control object unit to its target position while maintaining the connectivity of the control object structure;
A second type control object unit movement control unit for moving the second type control object unit of each control object unit to its target position while maintaining the connectivity of the control object structure;
Control device including. The control device according to claim 1,
The first type controlled object unit movement control unit is
(CASE 1) The first type control object unit in S at the position adjacent to the second type control object unit after the corresponding first type control object unit has moved from the initial position, If there is a first type control target unit whose target position is a position adjacent to the second type control target unit or a position adjacent to the moved first type control target unit, the first type control target unit When a unit is selected as a target type 1 control target unit and there is no type 1 control target unit corresponding to (CASE 2) CASE 1, the corresponding type 1 control target unit moves from the initial position. The first type control object unit in S at the position adjacent to the second type control object unit after the other first type control object unit at the target position of the first type control object unit If a unit exists, the first type control target unit is set as the target first type control target unit. (CASE 3) When there is no first type control target unit corresponding to CASE 1 and CASE 2, the second type control target after the corresponding first type control target unit moves from the initial position If there is a first type control target unit in S that is adjacent to the target unit, select the first type control target unit as the target first type control target unit, and (CASE 4) CASE If there is no first type control target unit corresponding to 1 to CASE 3, select the first type control target unit at the position adjacent to G in S as the target first type control target unit A target type 1 control object unit selector,
In the case of CASE 1, the first moving unit that moves the target first type control target unit selected in CASE 1 to the target position;
In CASE 2, the other first type control target unit is the first target control target unit, and there is another first type control target unit at the target position of the first target control target unit. When the second type control target object unit is set as the second control target object unit, the first type control target unit of the K target control target unit is set as a positive integer. It repeats until the control object unit does not exist, k = 1,..., K, the target first type control object unit selected in CASE 2, the first eviction target control object unit,. Each of the K-1 kick-out target control object units is moved to the target position, and the K-th kick-out target control object unit is moved to a position within G that is closest to the target position of the K-th kick-out control target unit. A moving part;
In the case of CASE 3 and CASE 4, the target type 1 control object unit selected in CASE 3 and CASE 4 is a void position without a control object adjacent to the current control object unit structure, and A third moving unit for moving to a position within G that is closest to the target position of the target first type control target unit;
The processes of the target first type control target unit selecting unit, the first moving unit, the second moving unit, and the third moving unit are repeated until all the first type control target units move to the target position. A first control unit that controls to perform,
Control device including. The control device according to claim 1 or 2,
The second type controlled object unit movement control unit is
A target second type control object unit selection unit that selects a second type control object unit that has not reached the target position as a target second type control object unit; and
Determine whether the connectivity of the control object structure is maintained when moving the selected target second type control object unit to the target position, and (1) the connectivity of the control object structure is maintained When it is determined that the selected target second type control target unit is moved to the target position and (2) it is determined that the connectivity of the control target structure is not maintained, the selection is performed. Selecting a replacement second type control object unit that is a second type control object unit that can be moved while maintaining the connectivity of the control object structure to the position of the target second type control object unit The selected second target type control object unit is moved to the target position after the selected replacement second type control target unit is moved to the position of the selected target second type control target unit. A movement control unit;
Control is performed so that the processes of the target second type control target unit selection unit and the second type control target unit movement control unit are repeated until there is no second type control target unit that has not reached the target position. A second control unit;
Control device including. The control device according to claim 1,
The position S included in the initial position set S and the position G included in the initial position set S is assumed to be in contact with the set S of initial positions and the set G of target positions of the control target unit. As one of the connection positions,
The first type controlled object unit movement control unit is
A first type control object in which each first type control object unit is in an initial position close to the connection position until the target position is reached through the connection position while maintaining the connectivity of the control object structure. A first path determining unit that sequentially determines a unit path;
A first waiting time adjustment unit for determining the waiting time of each first type control target unit so that each first type control target unit does not collide,
A first moving unit that moves each first-type controlled object unit according to the path determined by the first path determining unit and the waiting time determined by the first waiting time adjusting unit;
Including
The second type controlled object unit movement control unit is
Second-type control in which each second-type control target unit maintains a connectivity of the control target structure, and a path far from the connection position is a target position through the connection position to reach the target position. A second path determination unit that determines in order from the path of the object unit;
A second waiting time adjustment unit for determining a waiting time of each second type control target unit so that each second type control target unit does not collide,
A second moving unit that moves each second-type controlled object unit according to the path determined by the second path determining unit and the waiting time determined by the second waiting time adjusting unit;
including,
Control device. There are a plurality of control object units, and each control object unit is composed of a first type control object unit and a second type control object unit, and the first type control object unit and the second type control object unit. Is composed of U control objects (U is an integer of 4 or more),
The control object unit has a predetermined initial position and a predetermined target position.The set of initial positions is S, the set of target positions is G, and the target position of the first type control object unit is The target position of the control object unit of the first type control object unit, the target position of the second type control object unit is the target position of the control object unit of the second type control object unit,
The first type control object unit and the second type control object unit are adjacent to the other first type control object unit and the second type control object unit, so that the first type control object unit and the second type control object unit. When the object unit forms a block of control object structure, the connectivity of the control object structure is called,
The first type control target unit movement control unit moves the first type control target unit of each control target unit to its target position while maintaining the connectivity of the control target structure. An object unit movement step;
The second type control target unit moves the second type control target unit of each control target unit to its target position while maintaining the connectivity of the control target structure. An object unit movement step;
Control method.   The computer-readable program for functioning a computer as each part of the control apparatus in any one of Claim 1 to 4.