{"updated":"2025-01-19T12:59:16.822615+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00224881","sets":["1164:3980:11162:11163"]},"path":["11163"],"owner":"44499","recid":"224881","title":["複数の無線自走ロボットを用いた小口径下水管検査のための陣形制御手法の設計と実装"],"pubdate":{"attribute_name":"公開日","attribute_value":"2023-03-01"},"_buckets":{"deposit":"3e52b8cb-ff04-4de6-b809-186c9374b7f1"},"_deposit":{"id":"224881","pid":{"type":"depid","value":"224881","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"複数の無線自走ロボットを用いた小口径下水管検査のための陣形制御手法の設計と実装","author_link":["594043","594045","594044"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"複数の無線自走ロボットを用いた小口径下水管検査のための陣形制御手法の設計と実装"},{"subitem_title":"Design and implementation of a multi-robot formation control method for small-diameter sewer pipe inspection using multiple wireless self-propelled robots","subitem_title_language":"en"}]},"item_type_id":"4","publish_date":"2023-03-01","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"現在，静岡大学"},{"subitem_text_value":"現在，静岡大学"},{"subitem_text_value":"現在，静岡大学"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"Presently with Shizuoka University","subitem_text_language":"en"},{"subitem_text_value":"Presently with Shizuoka University","subitem_text_language":"en"},{"subitem_text_value":"Presently with Shizuoka University","subitem_text_language":"en"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"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/224881/files/IPSJ-ITS23092007.pdf","label":"IPSJ-ITS23092007.pdf"},"date":[{"dateType":"Available","dateValue":"2025-03-01"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-ITS23092007.pdf","filesize":[{"value":"27.7 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":"37"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"68b454e8-f9a3-4b2a-92ef-b1f5bcfd1f1f","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2023 by the Information Processing Society of Japan"}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"近本, 祐介"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Pham, V. Thanh"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"石原, 進"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA11515904","subitem_source_identifier_type":"NCID"}]},"item_4_textarea_12":{"attribute_name":"Notice","attribute_value_mlt":[{"subitem_textarea_value":"SIG Technical Reports are nonrefereed and hence may later appear in any journals, conferences, symposia, etc."}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_18gh","resourcetype":"technical report"}]},"item_4_source_id_11":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"2188-8965","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"国内では下水管の老朽化が深刻化し，全国的に下水管の検査や修復作業が必要となっている．しかしながら，その時間的，人的コストが作業実施の障壁となっている．筆者らは，既存の下水管検査手法よりも検査の短時間化や人的コストの削減，対障害物性の向上を目指し，小口径下水管を対象として複数の無線ロボット (UAV や UGV) を用いた管渠内部の検査システムの開発を進めている．このシステムでは，複数の無線ロボットを下水管内部に配置して無線マルチホップネットワークを構成し，通信接続性を維持するよう中継用の無線ロボットの位置を自動で調整しながら，1) 先頭を移動するカメラを搭載した無線ロボットへの制御コマンドの送信，および 2) 後続のロボット群を中継した映像のストリーミングを行う．本稿では，同システムの設計・実装と動作検証について報告する．","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"7","bibliographic_titles":[{"bibliographic_title":"研究報告高度交通システムとスマートコミュニティ（ITS）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2023-03-01","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"7","bibliographicVolumeNumber":"2023-ITS-92"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"created":"2025-01-19T01:24:26.462024+00:00","id":224881,"links":{}}