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| Presentation | 2023-03-15 09:55 Control of Multi-robot Systems Using A Future Map Aki Matsutaka (Nagoya Univ.), Shun-ichi Azuma (Kyoto Univ.), Ryo Ariizumi, Toru Asai (Nagoya Univ.)  IT2022-108 ISEC2022-87 WBS2022-105 RCC2022-105 |
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| Abstract | (in Japanese) | (See Japanese page) |
| (in English) | This research was presented at "the 66th Conference of the Institute of Systems, Control and Information Engineers" and "the 6th International Symposium on Swarm Behaviour and Bio-inspired Robotics". In a smart warehouse, efficient control of mobile robots is required. This paper improves the recently proposed method based on a future map in terms of the computational time of generating a route. In this system, each robot is controlled by a receding horizon policy, where a map server saves the scheduled route of each robot and each robot determines its optimal route by reading the information from the server. This paper proposes a new method for generating an optimal route based on a spatio-temporal graph, which contains the future trajectories of robots. The effectiveness is verified by numerical simulations. |
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| Keyword | (in Japanese) | (See Japanese page) |
| (in English) | multi-agent systems / model predictive control / smart warehouse / / / / / | |
| Reference Info. | IEICE Tech. Rep., vol. 122, no. 430, RCC2022-105, pp. 251-256, March 2023. | |
| Paper # | RCC2022-105 | |
| Date of Issue | 2023-03-07 (IT, ISEC, WBS, RCC) | |
| ISSN | Online edition: ISSN 2432-6380 | |
| Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) | |
| Download PDF | IT2022-108 ISEC2022-87 WBS2022-105 RCC2022-105 |
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| Conference Information | |
| Committee | RCC ISEC IT WBS |
| Conference Date | 2023-03-14 - 2023-03-15 |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Paper Information | |
| Registration To | RCC |
| Conference Code | 2023-03-RCC-ISEC-IT-WBS |
| Language | Japanese |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Control of Multi-robot Systems Using A Future Map |
| Sub Title (in English) | |
| Keyword(1) | multi-agent systems |
| Keyword(2) | model predictive control |
| Keyword(3) | smart warehouse |
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| 1st Author's Name | Aki Matsutaka |
| 1st Author's Affiliation | Nagoya University (Nagoya Univ.) |
| 2nd Author's Name | Shun-ichi Azuma |
| 2nd Author's Affiliation | Kyoto University (Kyoto Univ.) |
| 3rd Author's Name | Ryo Ariizumi |
| 3rd Author's Affiliation | Nagoya University (Nagoya Univ.) |
| 4th Author's Name | Toru Asai |
| 4th Author's Affiliation | Nagoya University (Nagoya Univ.) |
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| Speaker | Author-1 |
| Date Time | 2023-03-15 09:55:00 |
| Presentation Time | 25 minutes |
| Registration for | RCC |
| Paper # | IT2022-108, ISEC2022-87, WBS2022-105, RCC2022-105 |
| Volume (vol) | vol.122 |
| Number (no) | no.427(IT), no.428(ISEC), no.429(WBS), no.430(RCC) |
| Page | pp.251-256 |
| #Pages | 6 |
| Date of Issue | 2023-03-07 (IT, ISEC, WBS, RCC) |
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