@article{oai:ipsj.ixsq.nii.ac.jp:00216370,
 author = {伊藤, 太清 and 神崎, 映光 and Taisei, Ito and Akimitsu, Kanzaki},
 issue = {2},
 journal = {情報処理学会論文誌},
 month = {Feb},
 note = {本論文では，さまざまな機関や個人の所有する自律移動可能な無人航空機（Unmanned Aerial Vehicle: UAV）を積極的に利用し，これらのUAVを協調動作させて広範囲の探索データを効率良く収集する手法を提案する．提案手法では，筆者らの先行研究（Kanzakiら，2019）に基づき，各探索地点の探索頻度を評価する指標を定義し，これに基づいてUAVが移動経路を定めることにより，対象領域全体を効率的に探索する．また，各UAVが定期的に自身の情報収集地点へデータを持ち帰り，さらに探索中に無線通信可能となった別のUAVおよび情報収集地点ともデータの共有を行うことで，多くのデータを短時間で情報収集地点に収集する．, In this paper, we propose a method that achieves efficient data gathering in a wide area, introducing collaborative operation of multiple autonomous UAVs (Unmanned Aerial Vehicles) owned by different organizations and individuals. Our proposed method defines a metric that evaluates the frequency of exploration for each location based on our previous method (Kanzaki et al., 2019). By determining the moving path of each UAV using this metric, our method achieves an efficient exploration of a target area. In addition, our method achieves data gathering to the base stations in a short time by introducing i) periodical returning to the basestation and ii) data sharing between UAVs and base stations via direct wireless communication.},
 pages = {539--548},
 title = {自律移動型UAVの協調動作を用いた効率的な探索データ収集手法},
 volume = {63},
 year = {2022}
}