Robust Cooperative Algorithm Design for Robotic Sensor Networks and Experimental Verification

机器人传感器网络鲁棒协作算法设计及实验验证

• 批准号: 21560457
• 负责人: FUJITA Masayuki
• 金额: $ 3万
• 依托单位: Tokyo Institute of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2009
• 资助国家: 日本
• 起止时间: 2009 至 2011
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-21560457/
• 关键词: 制御理論; 制御工学; センサネットワーク; ロボティックネットワーク; 協調制御; 耐故障性

This project aimed at(1) Visual Observer-Based Cooperative Control,(2) Cooperative Task Switching Algorithm Design,(3) Robust Cooperative Control Algorithm Design,(4) Establishment of a Robotic Sensor Network System. On Topic(1): We succeeded in deriving theoretical results on conditions for achieving successful cooperation. The result was accepted for presentation at premier conferences, where it received a high evaluation as the first paper providing a nonlinear observer-based cooperative control scheme with theoretical guarantees. The result was also published in a domestic journal. We also extended the result from a pin-hole type camera model to a panoramic camera model so as to overcome the view angle issue which is an essential problem when we use a vision sensor. The result was also published in an international conference and a domestic journal. On Topic(2): We have succeeded in presenting a task switching law based on a so-called consensus protocol. The paper received a best presentation award at a premier conference. Moreover, we presented another distributed task switching algorithm based on evolutionary game theory, which was published in an international journal. On Topic(3): We thought of an idea that robust cooperation is met by integrating game theory with cooperative control. As a preliminary, we first addressed the problem in(i) via game theoretic approach, which was successfully accepted for an international conference and a domestic journal. Moreover, we presented a learning algorithm leading agents to the optimal actions even without any prior knowledge on environment. A series of the results will be presented at a conference and, recently, the journal version was accepted for publication. On Topic(iv): We succeeded in establishing a robotic sensor network system and most of the papers mentioned above include experimental verification using the system.

该项目针对（1）基于视觉观察者的合作控制，（2）合作任务切换算法设计，（3）强大的合作控制算法设计，（4）建立机器人传感器网络系统。关于主题（1）：我们成功地获得了实现成功合作条件的理论结果。结果被接受在首屈一指的会议上进行演讲，在该会议上，它获得了高评估，因为第一篇论文提供了基于非线性观察者的合作控制计划，并具有理论保证。结果也发表在国内杂志上。我们还将结果从针孔类型的摄像机模型扩展到了全景相机模型，以克服视角问题，这是我们使用视觉传感器时的重要问题。结果也发表在国际会议和国内杂志上。关于主题（2）：我们成功地基于所谓的共识协议介绍了一项任务切换法律。该论文在总理会议上获得了最佳演讲奖。此外，我们根据进化游戏理论提出了另一种分布式任务切换算法，该算法发表在国际期刊上。关于主题（3）：我们想到了一个想法，即通过将游戏理论与合作控制融为一体来满足强大的合作。作为初步，我们首先通过游戏理论方法解决了（i）中的问题，该方法已成功接受了国际会议和国内期刊。此外，即使没有对环境的任何先验知识，我们也提出了一种学习算法的领导者。一系列结果将在会议上介绍，最近，该期刊版本被接受出版。关于主题（IV）：我们成功建立了机器人传感器网络系统，上面提到的大多数论文包括使用该系统的实验验证。

项目成果

Passivity-based Visual Motion Observer with Panoramic Camera for Pose Control

基于被动式的视觉运动观察器，带有用于姿态控制的全景相机

• DOI: 10.1007/s10846-011-9557-5
• 发表时间: 2011
• 期刊: Journal of Intelligent and Robotic Systems
• 影响因子: 3.3
• 作者: H.Kawai;T.Murao;M.Fujita
• 通讯作者: M.Fujita

予測制御を用いた電池を含むパワーネットワークの動的最適潮流計算

使用预测控制对包括电池在内的电网进行动态最优潮流计算

• 发表时间: 2010
• 作者: W.M.Haddad;T.Hayakawa;T.Yucelen;畑中健志
• 通讯作者: 畑中健志

Equilibrium Configurations for A Territorial Model

地域模型的平衡配置

• 发表时间: 2009
• 期刊: SIAM Journal on Applied Dynamical Systems 8
• 作者: R.Votal;D.A.W.Barton;T.Goto;T.Hatanaka;M.Fujita;J.Moehlis
• 通讯作者: J.Moehlis

Electronics and Communications in Japan

日本的电子和通信

• 发表时间: 2010
• 作者: Kohei Arai;Kenro Yajima
• 通讯作者: Kenro Yajima

視覚フィードバックによるリーダ追尾型姿勢協調制御

使用视觉反馈的领导者跟踪姿势协调控制

• 发表时间: 2011
• 期刊: システム制御情報学会論文誌
• 作者: Y.Yamaguchi;Y.Kosuge and I.Matsunami;Seiji Hashimoto;Dai Owaki;伊吹竜也,畑中健志,藤田政之
• 通讯作者: 伊吹竜也,畑中健志,藤田政之