{"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00212990","sets":["6164:6165:6640:10712"]},"path":["10712"],"owner":"44499","recid":"212990","title":["時空間ルーティングを用いた複数自律移動ロボットの協調走行"],"pubdate":{"attribute_name":"公開日","attribute_value":"2021-06-23"},"_buckets":{"deposit":"ca7985de-ecb1-44c6-a303-c9bf5b1771c3"},"_deposit":{"id":"212990","pid":{"type":"depid","value":"212990","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"時空間ルーティングを用いた複数自律移動ロボットの協調走行","author_link":["544218","544222","544221","544223","544219","544220"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"時空間ルーティングを用いた複数自律移動ロボットの協調走行"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"無線・移動体","subitem_subject_scheme":"Other"}]},"item_type_id":"18","publish_date":"2021-06-23","item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_18_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"名古屋大学大学院工学研究科"},{"subitem_text_value":"名古屋大学大学院工学研究科"},{"subitem_text_value":"名古屋大学大学院工学研究科"},{"subitem_text_value":"国立情報学研究所"},{"subitem_text_value":"名古屋大学大学院工学研究科"},{"subitem_text_value":"名古屋大学大学院工学研究科／名古屋大学未来社会創造機構"}]},"item_publisher":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"情報処理学会","subitem_publisher_language":"ja"}]},"publish_status":"0","weko_shared_id":-1,"item_file_price":{"attribute_name":"Billing file","attribute_type":"file","attribute_value_mlt":[{"url":{"url":"https://ipsj.ixsq.nii.ac.jp/record/212990/files/IPSJ-DICOMO2021092.pdf","label":"IPSJ-DICOMO2021092.pdf"},"date":[{"dateType":"Available","dateValue":"2023-06-23"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-DICOMO2021092.pdf","filesize":[{"value":"2.4 MB"}],"mimetype":"application/pdf","priceinfo":[{"tax":["include_tax"],"price":"660","billingrole":"5"},{"tax":["include_tax"],"price":"330","billingrole":"6"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"c0562c12-5f0b-4b8c-9c90-fef36d84973d","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2021 by the Information Processing Society of Japan"}]},"item_18_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"福島, 悠人"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"浅井, 悠佑"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"浦野, 健太"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"青木, 俊介"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"米澤, 拓郎"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"河口, 信夫"}],"nameIdentifiers":[{}]}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_5794","resourcetype":"conference paper"}]},"item_18_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"本研究では，クラウドサーバを用いた経路共有による，複数の異なる自律移動ロボットのデッドロックを回避する協調経路計画システムを提案する．ここ数十年で自律移動ロボットの実用化が進み，自律移動ロボットは決められた道を走行するだけでなく，動的に変化する環境で柔軟に走行できるようにってきている．しかしながら，自律移動ロボットの経路計画手法は，狭い空間での将来のロボット同士のデッドロックや，密集を想定できないという課題がある．本研究では，複数の自律移動ロボットが任意の時刻，場所で目的地が与えられる環境を想定し，クラウドサーバを用いた経路計画によって，停止や迂回によって先に計算された経路を妨げないロボットの協調の実現を目指す．最後に，提案する経路計画アルゴリズムをクラウドサーバシステム上で実装し，シミュレーションされたロボットをもちいて本手法の判断の最適度，処理能力の限界値を評価し，実世界での実現可能性について考察する．","subitem_description_type":"Other"}]},"item_18_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"679","bibliographic_titles":[{"bibliographic_title":"マルチメディア，分散協調とモバイルシンポジウム2021論文集"}],"bibliographicPageStart":"672","bibliographicIssueDates":{"bibliographicIssueDate":"2021-06-23","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"1","bibliographicVolumeNumber":"2021"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":212990,"updated":"2025-01-19T17:18:37.862233+00:00","links":{},"created":"2025-01-19T01:13:54.548690+00:00"}