{"links":{},"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00220444","sets":["6164:6165:7006:11034"]},"path":["11034"],"owner":"44499","recid":"220444","title":["群衆内を移動するロボットのナビゲーション手法における環境の影響度評価"],"pubdate":{"attribute_name":"公開日","attribute_value":"2022-10-17"},"_buckets":{"deposit":"0b982f40-f0d0-439d-8451-850069683d84"},"_deposit":{"id":"220444","pid":{"type":"depid","value":"220444","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"群衆内を移動するロボットのナビゲーション手法における環境の影響度評価","author_link":["576677","576676","576674","576675"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"群衆内を移動するロボットのナビゲーション手法における環境の影響度評価"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"自律移動ロボット，ロボットナビゲーション，人・ロボット共存環境，強化学習","subitem_subject_scheme":"Other"}]},"item_type_id":"18","publish_date":"2022-10-17","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":"東京女子大学大学院理学研究科"},{"subitem_text_value":"東京女子大学現代教養学部数理科学科"},{"subitem_text_value":"東京女子大学現代教養学部数理科学科"},{"subitem_text_value":"東京女子大学現代教養学部数理科学科"}]},"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/220444/files/IPSJ-DPSWS2022012.pdf","label":"IPSJ-DPSWS2022012.pdf"},"date":[{"dateType":"Available","dateValue":"2024-10-17"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-DPSWS2022012.pdf","filesize":[{"value":"1.5 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":"34"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"6684c906-10db-4343-bcc9-a43c46b0f9c8","displaytype":"detail","licensetype":"license_note","license_note":"©2022 Information Processing Society Japan"}]},"item_18_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"天野, 加奈子"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"小森, 安奈"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"中澤, 咲"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"加藤, 由花"}],"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":"我々はこれまで，群衆内を移動する自律移動ロボットのナビゲーション手法として，深層強化学習を含む複数の制御ポリシーを切り替えながら，安全性と効率性の双方を向上させる手法の研究を進めてきた．既存手法と比較し，通路のような狭い環境においても，衝突率等，安全性の指標が向上することを示してきたが，適用環境により結果にばらつきが生じる等，より詳細な分析が必要であるという課題が残った．本稿では，複数環境においてポリシー切り替え条件を変化させた実験を行うことで，環境の違いが性能に与える影響を明らかにする．さらに，環境ごとに利用されるポリシーの割合や，具体的な切り替え状況を調べることにより，環境ごとにどのようなポリシーを利用するべきかを考察する．","subitem_description_type":"Other"}]},"item_18_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"90","bibliographic_titles":[{"bibliographic_title":"第30回マルチメディア通信と分散処理ワークショップ論文集"}],"bibliographicPageStart":"82","bibliographicIssueDates":{"bibliographicIssueDate":"2022-10-17","bibliographicIssueDateType":"Issued"}}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"created":"2025-01-19T01:20:29.242080+00:00","updated":"2025-01-19T14:34:09.978648+00:00","id":220444}