JP6700198B2 - マルチロボットシステム、及びその制御方法 - Google Patents

マルチロボットシステム、及びその制御方法 Download PDF

Info

Publication number
JP6700198B2
JP6700198B2 JP2016567027A JP2016567027A JP6700198B2 JP 6700198 B2 JP6700198 B2 JP 6700198B2 JP 2016567027 A JP2016567027 A JP 2016567027A JP 2016567027 A JP2016567027 A JP 2016567027A JP 6700198 B2 JP6700198 B2 JP 6700198B2
Authority
JP
Japan
Prior art keywords
robot
processor
density function
robots
displacement vector
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
JP2016567027A
Other languages
English (en)
Japanese (ja)
Other versions
JP2017519279A5 (enExample
JP2017519279A (ja
Inventor
エガステッド マグナス
エガステッド マグナス
クン リ スン
クン リ スン
ディアス−メルカド ヤンシー
ディアス−メルカド ヤンシー
チョプラ スムリティ
チョプラ スムリティ
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Georgia Tech Research Corp
Original Assignee
Georgia Tech Research Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Georgia Tech Research Corp filed Critical Georgia Tech Research Corp
Publication of JP2017519279A publication Critical patent/JP2017519279A/ja
Publication of JP2017519279A5 publication Critical patent/JP2017519279A5/ja
Application granted granted Critical
Publication of JP6700198B2 publication Critical patent/JP6700198B2/ja
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0027—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement involving a plurality of vehicles, e.g. fleet or convoy travelling
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G05D1/222—Remote-control arrangements operated by humans
    • G05D1/223—Command input arrangements on the remote controller, e.g. joysticks or touch screens
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39153—Human supervisory control of swarm

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Computing Systems (AREA)
  • Mathematical Physics (AREA)
  • Theoretical Computer Science (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
  • Feedback Control In General (AREA)
  • Computer Networks & Wireless Communication (AREA)
JP2016567027A 2014-05-05 2015-05-05 マルチロボットシステム、及びその制御方法 Expired - Fee Related JP6700198B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201461988817P 2014-05-05 2014-05-05
US201461988345P 2014-05-05 2014-05-05
US61/988,345 2014-05-05
US61/988,817 2014-05-05
PCT/US2015/029211 WO2015171593A1 (en) 2014-05-05 2015-05-05 Control of swarming robots

Publications (3)

Publication Number Publication Date
JP2017519279A JP2017519279A (ja) 2017-07-13
JP2017519279A5 JP2017519279A5 (enExample) 2018-06-14
JP6700198B2 true JP6700198B2 (ja) 2020-05-27

Family

ID=54392896

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2016567027A Expired - Fee Related JP6700198B2 (ja) 2014-05-05 2015-05-05 マルチロボットシステム、及びその制御方法

Country Status (5)

Country Link
US (1) US10537996B2 (enExample)
EP (1) EP3140084A4 (enExample)
JP (1) JP6700198B2 (enExample)
KR (1) KR20170003624A (enExample)
WO (1) WO2015171593A1 (enExample)

Families Citing this family (46)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9878448B2 (en) * 2015-11-02 2018-01-30 Daegu Gyeongbuk Institute Of Science And Technology Omnidirectional moving robot device, and system and method for object conveyance using the same
CN106155057B (zh) * 2016-08-05 2018-12-25 中南大学 一种基于自组织行为的集群机器人图形组建方法
CN107791280B (zh) * 2016-09-05 2020-10-23 深圳光启合众科技有限公司 智能个体的行进控制方法及装置、机器人
US10409230B2 (en) * 2016-11-01 2019-09-10 Mitsubishi Electric Research Laboratories, Inc Multi-agent control system and method
JP7115313B2 (ja) * 2016-11-18 2022-08-09 日本電気株式会社 制御システム、制御方法およびプログラム
JP6805989B2 (ja) * 2017-07-10 2020-12-23 株式会社豊田中央研究所 カバレッジ装置、移動体、制御装置、移動体の分散制御プログラム
CN107562047B (zh) * 2017-08-02 2020-11-17 中国科学院自动化研究所 无人驾驶设备编队方法以及存储装置、处理装置
JP7069632B2 (ja) * 2017-10-16 2022-05-18 株式会社豊田中央研究所 制御装置、移動体、及び移動体の分散制御プログラム
JP7076200B2 (ja) * 2017-12-04 2022-05-27 株式会社Subaru 移動体の動作制御装置、移動体の動作制御方法及び移動体の動作制御プログラム
KR102489806B1 (ko) 2018-01-03 2023-01-19 삼성전자주식회사 청소용 이동장치, 협업청소 시스템 및 그 제어방법
JP7135322B2 (ja) * 2018-01-05 2022-09-13 株式会社豊田中央研究所 移動体の監視対象追従制御装置、監視対象追従制御プログラム
JP7031312B2 (ja) * 2018-01-05 2022-03-08 株式会社豊田中央研究所 移動体の監視対象監視制御装置、監視対象監視制御プログラム
US10705538B2 (en) * 2018-01-31 2020-07-07 Metal Industries Research & Development Centre Auto guided vehicle system and operating method thereof
JP7069896B2 (ja) * 2018-03-16 2022-05-18 株式会社豊田中央研究所 制御装置、移動体、自律分散制御プログラム
US11533593B2 (en) * 2018-05-01 2022-12-20 New York University System method and computer-accessible medium for blockchain-based distributed ledger for analyzing and tracking environmental targets
CN109739249B (zh) * 2018-09-06 2022-04-19 中国船舶工业系统工程研究院 一种速度状态缺失条件下的多uuv编队协调控制方法
CN113168553A (zh) * 2018-09-28 2021-07-23 英特尔公司 机器人移动设备及相关方法
US11402830B2 (en) * 2018-09-28 2022-08-02 Teradyne, Inc. Collaborative automation logistics facility
CN109739219B (zh) * 2018-12-05 2022-02-11 阿波罗智能技术(北京)有限公司 通行路径的规划方法、装置、设备及可读存储介质
US11853066B2 (en) * 2018-12-27 2023-12-26 Nec Corporation Control device, formation determination device, control method, and program
CN113474065B (zh) * 2019-02-15 2023-06-23 索尼集团公司 移动体、移动方法
ES2941784T3 (es) * 2019-02-26 2023-05-25 Airbus Operations Gmbh Vehículo de transporte terrestre no tripulado y método para transportar artículos
CN110333724B (zh) * 2019-07-22 2022-03-15 西北工业大学 一种未知环境中多机器人群体运动的控制方法
WO2021024352A1 (ja) * 2019-08-05 2021-02-11 三菱電機株式会社 制御装置、および、制御方法
JP7066068B2 (ja) * 2019-09-18 2022-05-12 三菱電機株式会社 制御装置、制御方法、制御プログラム
WO2021070239A1 (ja) * 2019-10-08 2021-04-15 三菱電機株式会社 自律分散制御システム
CN112700025B (zh) * 2019-10-22 2024-07-16 北京京东振世信息技术有限公司 覆盖区域的分配方法及装置、存储介质、电子设备
JP7435620B2 (ja) 2019-11-14 2024-02-21 日本電気株式会社 無人機、無人機制御システム、制御方法、プログラム及び制御装置
WO2022003952A1 (ja) * 2020-07-03 2022-01-06 日本電信電話株式会社 心理的圧迫感算出装置、心理的圧迫感算出方法およびプログラム
CN111958588A (zh) * 2020-07-06 2020-11-20 佛山科学技术学院 一种多机器人数据同步的控制方法及系统
JP7436401B2 (ja) * 2021-01-18 2024-02-21 株式会社日立製作所 分散協調システム
US11812280B2 (en) 2021-06-01 2023-11-07 Kabushiki Kaisha Toshiba Swarm control algorithm to maintain mesh connectivity while assessing and optimizing areal coverage in unknown complex environments
CN113479344B (zh) * 2021-07-07 2022-09-23 西北工业大学 一种可快速解算的分布式卫星姿态协同控制方法
CN113792843B (zh) * 2021-08-19 2023-07-25 中国人民解放军军事科学院国防科技创新研究院 一种在行为克隆框架下基于群体方向一致性和稳定性的蜂拥涌现控制方法
KR20230055067A (ko) 2021-10-18 2023-04-25 에이치엘만도 주식회사 군집 로봇 제어 장치 및 방법
CN114310898B (zh) * 2022-01-07 2022-09-06 深圳威洛博机器人有限公司 一种机器手同步控制系统及控制方法
US12337463B2 (en) * 2022-02-19 2025-06-24 Accelerated Systems Inc. Robot swarm
CN114625138B (zh) * 2022-03-11 2024-11-01 江苏集萃道路工程技术与装备研究所有限公司 一种交通锥机器人自主移动的方法及交通锥机器人系统
CN114647244B (zh) * 2022-03-21 2024-07-26 广东工业大学 基于自组织拓扑与模型预测的多机器人编队控制方法
CN114967703B (zh) * 2022-06-15 2025-02-11 华中科技大学 基于时间代价的机器人覆盖控制方法、控制系统及控制器
CN115278699B (zh) * 2022-06-17 2024-01-16 深圳市人工智能与机器人研究院 通信连通保持约束下的多智能体覆盖控制方法和装置
CN114879743B (zh) * 2022-06-28 2025-07-22 北京航空航天大学 一种考虑干扰的无人集群分布式时变优化控制方法及系统
KR102746741B1 (ko) * 2022-11-28 2024-12-26 최호인 농업용 로봇을 활용한 군집 농작업 시스템 및 그 제어방법
JP2025093694A (ja) * 2023-12-12 2025-06-24 オムロン株式会社 制御装置、制御方法及び制御プログラム
JP2025095608A (ja) * 2023-12-15 2025-06-26 財團法人工業技術研究院 キャリア制御システムとその方法
CN117519213B (zh) * 2024-01-04 2024-04-09 上海仙工智能科技有限公司 一种多机器人协同货运控制方法及系统、存储介质

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1040055A (ja) * 1996-07-18 1998-02-13 Koonet:Kk 情報提供装置及び記憶媒体
US6507771B2 (en) * 2000-07-10 2003-01-14 Hrl Laboratories Method and apparatus for controlling the movement of a plurality of agents
AU2001282883A1 (en) 2000-07-10 2002-02-05 Hrl Laboratories, Llc Method and apparatus for controlling the movement of a plurality of agents
US7844364B2 (en) * 2002-04-16 2010-11-30 Irobot Corporation Systems and methods for dispersing and clustering a plurality of robotic devices
WO2008013568A2 (en) * 2005-12-30 2008-01-31 Irobot Corporation Autonomous mobile robot
TWI333178B (en) * 2007-07-13 2010-11-11 Ind Tech Res Inst Method for coordinating cooperative robots
US8874261B2 (en) 2007-07-25 2014-10-28 Deere & Company Method and system for controlling a mobile robot
KR101040522B1 (ko) * 2009-10-13 2011-06-16 한국기술교육대학교 산학협력단 포텐셜 필드와 보로노이 다각형을 이용한 센서를 구비한 이동체의 센싱 범위 확장 방법
US8723872B2 (en) * 2010-06-09 2014-05-13 Disney Enterprises, Inc. Display with robotic pixels
US9067320B2 (en) * 2010-06-09 2015-06-30 Disney Enterprises, Inc. Robotic texture
US9606542B2 (en) * 2012-01-12 2017-03-28 International Business Machines Corporation Discovery and monitoring of an environment using a plurality of robots
KR20160050295A (ko) * 2014-10-29 2016-05-11 삼성전자주식회사 전자 장치 및 그의 디지털 수채 영상 재현 방법

Also Published As

Publication number Publication date
EP3140084A4 (en) 2018-04-04
US10537996B2 (en) 2020-01-21
EP3140084A1 (en) 2017-03-15
US20170072565A1 (en) 2017-03-16
KR20170003624A (ko) 2017-01-09
WO2015171593A1 (en) 2015-11-12
JP2017519279A (ja) 2017-07-13

Similar Documents

Publication Publication Date Title
JP6700198B2 (ja) マルチロボットシステム、及びその制御方法
Pham et al. Cooperative and distributed reinforcement learning of drones for field coverage
Hu et al. Multi-UAV coverage path planning: A distributed online cooperation method
Song et al. Online inspection path planning for autonomous 3D modeling using a micro-aerial vehicle
Jia et al. Autonomous tactile localization and mapping of objects buried in granular materials
Foix et al. 3D Sensor planning framework for leaf probing
Hasan et al. 3D relative directions based evolutionary computation for UAV-to-UAV interaction in swarm intelligence enabled decentralized networks
Dujari et al. Adaptive Mayfly Algorithm for UAV Path Planning and Obstacle Avoidance in Indoor Environment
Farid et al. Adaptive multi-objective search in a swarm vs swarm context
Shrit et al. Iterative Learning for Model Reactive Control: Application to autonomous multi-agent control
Lee et al. Adaptive triangular mesh generation of self-configuring robot swarms
D’Souza et al. A realistic simulation platform for multi-quadcopter search using downward facing cameras
Lensgraf et al. Scalable underwater assembly with reconfigurable visual fiducials
Yu et al. A study on online hyper-heuristic learning for swarm robots
Tiwari et al. Multi-uav resource constrained online monitoring of large-scale spatio-temporal environment with homing guarantee
Martinson et al. Improving success and efficiency of underwater autonomous tasks through dynamic re-planning and episodic reasoning
Tahir et al. Mobile Robot Control and Autonomy Through Collaborative Simulation Twin
Quiñonez et al. Coordination model for multi-robot systems based on cooperative behaviors
Kim et al. Predictive modeling of time-varying environmental information for path planning
Rebello Unlocking Dynamic Cameras for Visual Navigation
Juliá et al. Behaviour based multi-robot integrated exploration
de Araujo et al. Coordinated Soil Monitoring in Precision Agriculture: An IoT-Based Multi-Drone Approach
Paolini et al. A web-based user interface for a mobile robotic system
Annaz A mobile robot solving a virtual maze environment
Kan Motion and Task Planning for Mobile Robot Navigation Under Uncertainty

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20180501

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20180501

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20190319

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20190320

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20190617

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20190808

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20190917

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20191220

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20200316

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20200407

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20200430

R150 Certificate of patent or registration of utility model

Ref document number: 6700198

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

LAPS Cancellation because of no payment of annual fees