2021/04/08 更新

写真a

トダ ユウイチロウ
戸田 雄一郎
TODA Yuuichirou
所属
自然科学学域 助教
職名
助教
外部リンク

研究キーワード

  • 知能ロボット

  • ソフトコンピューティング

研究分野

  • 情報通信 / ソフトコンピューティング

委員歴

  • International Joint Conference on Neural Networks 2011   Technical Program Committee  

    2021年2月 - 2021年7月   

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    団体区分:学協会

  • EAI MOBILWARE 2021   Organizing Committee  

    2020年11月 - 2021年8月   

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    団体区分:学協会

 

論文

  • Episodic Memory Multimodal Learning for Robot Sensorimotor Map Building and Navigation. 査読

    Array,Yuichiro Toda, Array,Array,Array

    IEEE Trans. Cognitive and Developmental Systems11 ( 2 ) 210 - 220   2019年

  • Region of Interest Growing Neural Gas for Real-Time Point Cloud Processing. 査読

    Yuichiro Toda, Xiang Li, Takayuki Matsuno, Mamoru Minami

    Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Shenyang, China, August 8-11, 2019, Proceedings, Part III   82 - 91   2019年

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    出版者・発行元:Springer  

    DOI: 10.1007/978-3-030-27535-8_8

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  • Human Posture Recognition for Estimation of Human Body Condition. 査読

    Wei Quan, Jinseok Woo, Yuichiro Toda, Naoyuki Kubota

    JACIII23 ( 3 ) 519 - 527   2019年

  • Neuro-Activity-Based Dynamic Path Planner for 3-D Rough Terrain 査読

    Azhar Aulia Saputra, Yuichiro Toda, Janos Botzheim, Naoyuki Kubota

    IEEE Transactions on Cognitive and Developmental Systems10 ( 2 ) 138 - 150   2018年6月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:Institute of Electrical and Electronics Engineers Inc.  

    This paper presents a natural mechanism of the human brain for generating a dynamic path planning in 3-D rough terrain. The proposed paper not only emphasizes the inner state process of the neuron but also the development process of the neurons in the brain. There are two algorithm processes in this proposed model, the forward transmission activity for constructing the neuron connections to find the possible way and the synaptic pruning activity with backward neuron transmission for finding the best pathway from current position to target position and reducing inefficient neuron with its synaptic connections. In order to respond and avoid the unpredictable obstacle, dynamic path planning is also considered in this proposed model. An integrated system for applying the proposed model in the real cases is also presented. In order to prove the effectiveness of the proposed model, we applied it in the pathway of a four-legged robot on rough terrain in both computer simulation and real cases. Unpredictable collision is also performed in those experiments. The model can find the best pathway and facilitate the safe movement of the robot. When the robot found an unpredictable collision, the path planner dynamically changed the pathway. The proposed path planning model is capable to be applied in further advance implementation.

    DOI: 10.1109/TCDS.2017.2711013

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  • Path planning of the autonomous mobile robot by using real-time rolling risk estimation with fuzzy inference 査読

    Mutsumi Iwasa, Yuichiro Toda, Azhar Aulia Saputra, Naoyuki Kubota

    2017 IEEE Symposium Series on Computational Intelligence, SSCI 2017 - Proceedings2018-   1 - 6   2018年2月

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:Institute of Electrical and Electronics Engineers Inc.  

    Along with the advancement of research on intelligent robotics, the situation where the robot moves independently and performs work in real environment is expanding. In such situation, it is one of the highest priority for the autonomous mobile robot to reach the destination point without failure. Therefore, we consider the transfer of the mobile robot on pre-planned paths to a partially observed environment. When the mobile robot encounters danger in the observing environment and determines to take a detour, it is necessary to re-plan safe routes in a short time. In this study, we focused on the rollover risk of mobile robot. And we simulate the autonomous rerouting of the mobile robot for finding a more secure route such that it can safely arrive at the destination point, whenever it senses high possibility of rollover. By using fuzzy inference to judge rollover risk, the mobile robot judges the necessity of route change according to the magnitude of risk. We also aimed to quickly perform rerouting by using the D∗ Lite algorithm in real-time for robot movement. We propose a method to realize route planning modification based on evaluation and judgment of rollover risk by combining fuzzy inference and D∗ Lite algorithm. As a result, we confirm that the autonomous mobile robot can reach the destination point by real-time evaluation of the risk and taking detour action as necessary. Experiments are conducted through computer simulation using a virtual mobile robot and a 3D path based on graph theory. Finally, we discuss about the result of the simulation.

    DOI: 10.1109/SSCI.2017.8285367

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  • Reinforcement Learning Based on State Space Model using Growing Neural Gas for a Mobile Robot. 査読

    Tomoyuki Arai, Yuichiro Toda, Iwasa Mutsumi, Shuai Shao, Ryuta Tonomura, Naoyuki Kubota

    2018 Joint 10th International Conference on Soft Computing and Intelligent Systems (SCIS) and 19th International Symposium on Advanced Intelligent Systems (ISIS), Toyama, Japan, December 5-8, 2018   1410 - 1413   2018年

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    出版者・発行元:IEEE  

    DOI: 10.1109/SCIS-ISIS.2018.00220

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  • Topological Structure Learning Based Enclosing Formation Behavior for Monitoring System. 査読

    Yuichiro Toda, Naoyuki Kubota

    IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018, Miyazaki, Japan, October 7-10, 2018   831 - 836   2018年

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    出版者・発行元:IEEE  

    DOI: 10.1109/SMC.2018.00149

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  • A Multi-channel Episodic Memory Model for Human Action Learning and Recognition. 査読

    Kunpei Kato, Wei Hong Chin, Yuichiro Toda, Naoyuki Kubota

    IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018, Miyazaki, Japan, October 7-10, 2018   843 - 849   2018年

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    出版者・発行元:IEEE  

    DOI: 10.1109/SMC.2018.00151

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  • Integrated Robotic Control System for Public Nursing. 査読

    Wei Quan, Yuichiro Toda, Jinseok Woo, Naoyuki Kubota

    2018 World Automation Congress, WAC 2018, Stevenson, WA, USA, June 3-6, 2018   1 - 5   2018年

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    出版者・発行元:IEEE  

    DOI: 10.23919/WAC.2018.8430398

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  • Intelligent Control of Variable Ranging Sensor Array Using Multi-objective Behavior Coordination. 査読

    Sasuga Kitai, Yuichiro Toda, Naoyuki Takesue, Kazuyoshi Wada, Naoyuki Kubota

    Intelligent Robotics and Applications - 11th International Conference, ICIRA 2018, Newcastle, NSW, Australia, August 9-11, 2018, Proceedings, Part I   393 - 403   2018年

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    出版者・発行元:Springer  

    DOI: 10.1007/978-3-319-97586-3_35

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  • An Episodic Memory Model with Slow Features Extraction for Topological Map Building. 査読

    Wei Hong Chin, Yuichiro Toda, Naoyuki Kubota, Jinseok Woo, Chu Kiong Loo

    International Symposium on Micro-NanoMechatronics and Human Science, MHS 2018, Nagoya, Japan, December 9-12, 2018   1 - 6   2018年

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    出版者・発行元:IEEE  

    DOI: 10.1109/MHS.2018.8887062

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  • The Return Way Path Planning of an Autonomous Mobile Robot considering Traveling Risk of the Road. 査読

    Mutsumi Iwasa, Yuichiro Toda, Naoyuki Kubota

    2018 Joint 10th International Conference on Soft Computing and Intelligent Systems (SCIS) and 19th International Symposium on Advanced Intelligent Systems (ISIS), Toyama, Japan, December 5-8, 2018   1406 - 1409   2018年

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    出版者・発行元:IEEE  

    DOI: 10.1109/SCIS-ISIS.2018.00219

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  • Unsupervised neural network based topological learning from point clouds for map building. 査読

    Yuichiro Toda, Wei Hong Chin, Naoyuki Kubota

    International Symposium on Micro-NanoMechatronics and Human Science, MHS 2017, Nagoya, Japan, December 3-6, 2017   1 - 6   2017年

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    出版者・発行元:IEEE  

    DOI: 10.1109/MHS.2017.8305188

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  • Evolution strategy sampling consensus for robust estimator 査読

    Yuichiro Toda, Naoyuki Kubota

    Journal of Advanced Computational Intelligence and Intelligent Informatics20 ( 5 ) 788 - 802   2016年9月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:Fuji Technology Press  

    RANdom SAmple Consensus (RANSAC) has been applied to many 3D image processing problems such as homography matrix estimation problems and shape detection from 3D point clouds, and is one of the most popular robust estimator methods. However, RANSAC has a problem related to the trade-off between computational cost and stability of search because RANSAC is based on random sampling. Genetic Algorithm SAmple Consensus (GASAC) based on a population-based multi-point search was proposed in order to improve RANSAC. GASAC can im-prove the performance of search. However, it is sometimes difficult to maintain the genetic diversity in the search if the large size of outliers is included in a data set. Furthermore, a computational time of GASAC sometimes is slower than that of RANSAC because of calculation of the genetic operators. This paper proposes Evolution Strategy SAmple Consensus (ESSAC) as a new robust estimator. ESSAC is based 011 Evolution Strategy in order to maintain the genetic diversity. In ESSAC, we apply two heuristic searches to ESSAC. One is a search range control, the other is adaptive/self-adaptive mutation. By applying these heuristic searches, the trade-off between computational speed and search stability can be improved. Finally, this paper shows several experimental results in order to evaluate the effectiveness of the proposed method.

    DOI: 10.20965/jaciii.2016.p0788

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  • Multi-channel Bayesian Adaptive Resonance Associate Memory for on-line topological map building 査読

    Wei Hong Chin, Chu Kiong Loo, Manjeevan Seera, Naoyuki Kubota, Yuichiro Toda

    APPLIED SOFT COMPUTING38   269 - 280   2016年1月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:ELSEVIER SCIENCE BV  

    In this paper, a new network is proposed for automated recognition and classification of the environment information into regions, or nodes. Information is utilized in learning the topological map of an environment. The architecture is based upon a multi-channel Adaptive Resonance Associative Memory (ARAM) that comprises of two layers, input and memory. The input layer is formed using the Multiple Bayesian Adaptive Resonance Theory, which collects sensory data and incrementally clusters the obtained information into a set of nodes. In the memory layer, the clustered information is used as a topological map, where nodes are connected with edges. Nodes in the topological map represent regions of the environment and stores the robot location, while edges connect nodes and stores the robot orientation or direction. The proposed method, a Multi-channel Bayesian Adaptive Resonance Associative Memory (MBARAM) is validated using a number of benchmark datasets. Experimental results indicate that MBARAM is capable of generating topological map online and the map can be used for localization. (C) 2015 Elsevier B.V. All rights reserved.

    DOI: 10.1016/j.asoc.2015.09.031

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  • Intensity Histogram Based Segmentation of 3D Point Cloud Using Growing Neural Gas 査読

    Shin Miyake, Yuichiro Toda, Naoyuki Kubota, Naoyuki Takesue, Kazuyoshi Wada

    INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2016, PT II9835   335 - 345   2016年

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:SPRINGER INT PUBLISHING AG  

    This paper proposes a 3D point cloud segmentation method using a reflection intensity of Laser Range Finder (LRF). In this paper, we use LRF and tilt unit for acquiring a 3D point cloud. First of all, we apply Growing Neural Gas (GNG) to the point cloud for learning a topological structure of the point cloud. Next, we proposed a segmentation method based on an intensity histogram that is composed of the nearest data of each node. Finally, we show experimental results of the proposed method and discuss the effectiveness of the proposed method.

    DOI: 10.1007/978-3-319-43518-3_33

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  • Bézier curve model for efficient bio-inspired locomotion of low cost four legged robot. 査読

    Azhar Aulia Saputra, Nuo Wi Noel Tay, Yuichiro Toda, ános Botzheim, Naoyuki Kubota

    2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, South Korea, October 9-14, 2016   4443 - 4448   2016年

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    DOI: 10.1109/IROS.2016.7759654

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  • Real-time 3D Point Cloud Segmentation using Growing Neural Gas with Utility 査読

    Yuichiro Toda, Hui Yu, Zhaojie Ju, Naoyuki Takesue, Kazuyoshi Wada, Naoyuki Kubota

    2016 9TH INTERNATIONAL CONFERENCE ON HUMAN SYSTEM INTERACTIONS (HSI)   418 - 422   2016年

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    This paper proposes a real-time feature extraction and segmentation method for a 3D point cloud. First of all, we apply Growing Neural Gas with Utility (GNG-U) to the point cloud for learning a topological structure. However, the standard GNG-U cannot learn the topological structure of 3D space environment and color information simultaneously. To this end, we then modify the GNG-U algorithm by using a weight vector. we propose a surface feature extraction and segmentation method by efficiently utilizing the topological structure. Our segmentation method is based on a region growing method whose similarity value uses the inner value of two normal vectors connected by the topological structure. We show experimental results of the proposed method and discuss the effectiveness of the proposed method.

    DOI: 10.1109/HSI.2016.7529667

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  • Simultaneous Localization and Mapping Based on (μ+1)-Evolution Strategy for Mobile Robots. 査読

    Yuichiro Toda, Naoyuki Kubota

    Intelligent Robotics and Applications - 8th International Conference, ICIRA 2015, Portsmouth, UK, August 24-27, 2015, Proceedings, Part III9246   62 - 69   2015年

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:Springer  

    DOI: 10.1007/978-3-319-22873-0_6

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  • Genetic Bayesian ARAM for Simultaneous Localization and Hybrid Map Building 査読

    Wei Chin Hong, Chu Loo Kiong, Naoyuki Kubota, Yuichiro Toda

    2015 IEEE SYMPOSIUM SERIES ON COMPUTATIONAL INTELLIGENCE (IEEE SSCI)   275 - 279   2015年

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    This paper presents a new framework for mobile robot to perform localization and build topological-metric hybrid map simultaneously. The proposed framework termed as Genetic Bayesian ARAM consists of two main components: 1) Steady state genetic algorithm (SSGA) for self-localization and occupancy grid map building and 2) Bayesian Adaptive Resonance Associative Memory (ARAM) for topological map building. The proposed method is validated using a mobile robot. Result show that Genetic Bayesian ARAM capable of generate hybrid map online and perform localization simultaneously.

    DOI: 10.1109/SSCI.2015.48

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  • Behavior Analysis of Evolution Strategy Sample Consensus 査読

    Yuichiro Toda, Naoyuki Kubota

    2014 10TH FRANCE-JAPAN/ 8TH EUROPE-ASIA CONGRESS ON MECATRONICS (MECATRONICS)   250 - 255   2014年

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    Recently, robust estimators are expected in various fields such as signal processing and machine learning. In our previous work, we proposed Evolution Strategy Sample Consensus (ESSAC) as a new robust estimator method and improved a trade off between a calculation time and stability of SAmple Consensus (SAC) algorithms. In this paper, we show several experiments for behavior analysis of ESSAC in order to discuss why ESSAC enable to search stably in the dataset including the huge number of noises. and analyze several experiments related with the fitness function of SAC and the behavior of ESSAC.

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  • Self-Localization Based on Multiresolution Map for Remote Control of Multiple Mobile Robots 査読

    Yuichiro Toda, Naoyuki Kubota

    IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS9 ( 3 ) 1772 - 1781   2013年8月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

    This paper proposes a localization method using multiresolution maps for the navigation of multiple mobile robots based on formation behaviors. The remote control of multiple mobile robots is one the most important tasks in robotics to realize distributed remote monitoring in unknown and/or dynamic environments. However, it is very difficult for a human operator to control multiple mobile robots separately at the same time. Therefore, autonomous formation behaviors of multiple robots are required to reduce mental and physical loads of the human operator. If each mobile robot can estimate the self-position or relative position in a group, it is easier for multiple mobile robots to realize formation behaviors. First, we propose a method of simultaneous localization and mapping based on a grid approach. Next, we explain how to share the build map among multiple mobile robots, and propose a self-localization method based on multiresolution maps. Furthermore, we explain the formation behaviors of multiple mobile robots. Finally, we show several experimental results, and discuss the effectiveness of the proposed method.

    DOI: 10.1109/TII.2013.2261306

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  • Cooperative Formation of Multi-robot Based on Spring Model 査読

    Naoyuki Kubota, Yuichiro Toda, Shintaro Suzuki

    2013 SECOND INTERNATIONAL CONFERENCE ON ROBOT, VISION AND SIGNAL PROCESSING (RVSP)   72 - 77   2013年

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    This paper proposes a method of constituting the formation of a multi-robot system for exploration and monitoring. First, we apply a method of multi-objective behavior coordination for integrating behavior outputs from the fuzzy control for collision avoidance and target tracing. Second, we apply a spring model to calculate the temporary target position of each robot for the formation behavior. Third, we constitute monitoring formation, which is realized by enclosing behavior of multi-robot. Finally, we discuss the effectiveness of the proposed method through several simulation results.

    DOI: 10.1109/RVSP.2013.24

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  • Initial Self-localization Based on Shared Information for Multi-robot Teleoperation System 査読

    Shintaro Suzuki, Yuichiro Toda, Naoyuki Kubota

    2013 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE)   2721 - 2726   2013年

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    This paper proposes a localization method using shared information for teleoperation of multiple robots based on formation behaviors. The localization is one of the most important capabilities. However, other robots can be considered as unknown objects when a mobile robot performs initial self-localization. It is difficult to estimate the initial position if the other robots enter the sensing range of the mobile robot. However, the robot can perform the initial self-localization more efficiently by sharing the map information and each self-position. Therefore, we propose a method of effective initial self-localization using the position information of the other mobile robots and the subtracted measurement data of LRF for multi-robot systems. Finally, we show several experimental results, and discuss the effectiveness of the proposed method.

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  • Attention allocation for multi-modal perception of human-friendly robot partners 査読

    Yuichiro Toda, Naoyuki Kubota

    IFAC Proceedings Volumes (IFAC-PapersOnline)12 ( 1 ) 324 - 329   2013年

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:International Federation of Automatic Control  

    This paper proposes a method of attention allocation for multi-modal perception of humanfriendly robot partners based on various types of sensors built in a smart phone. First, we propose human and object detection method using octagonal templates based on evolutionary robot vision. Next, we propose an integration method for estimating human behaviors based on the human detection using color image by the multi-layered spiking neural network using the time series of positions of human and object. Furthermore, we propose a method of attention allocation based on the time series of human behavior recognition. Finally, we show several experimental results of the proposed method, and discuss the future direction on this research. Copyright © 2013 IFAC.

    DOI: 10.3182/20130811-5-US-2037.00054

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  • Feature Extraction based on Hierarchical Growing Neural Gas for Informationally Structured Space 査読

    Yuichiro Toda, Naoyuki Kubota

    2013 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN)   1 - 7   2013年

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    This paper proposes a method of feature extraction from 3D point clouds for informationally structured space including sensor networks and robot partners for co-existing with people. The informationally structured space realizes the quick update and access of valuable and useful information for both people and robots on real and virtual environments. Our method is based on Hierarchical Growing Neural Gas (HGNG). This method is one of self-organizing neural network based on unsupervised learning First, we propose 3D map building method using Kinect in order to acquire the 3D point clouds. Next, we propose the method of the feature extracting method based on HGNG. Finally, we show experimental results of the proposed method and discuss the effectiveness of the proposed method.

    DOI: 10.1109/IJCNN.2013.6706825

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  • Multimodal Communication for Human-Friendly Robot Partners in Informationally Structured Space 査読

    Naoyuki Kubota, Yuichiro Toda

    IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS42 ( 6 ) 1142 - 1151   2012年11月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

    This paper proposes a multimodal communication method for human-friendly robot partners based on various types of sensors. First, we explain informationally structured space to extend the cognitive capabilities of robot partners based on environmental systems. Next, we discuss the suitable measurement range for recognition technologies of touch interface, voice recognition, human detection, gesture recognition, and others. Based on the suitable measurement ranges, we propose an integration method to estimate human behaviors based on the human detection using color image and 3-D distance information, and gesture recognition by the multilayered spiking neural network using the time series of human-hand positions. Furthermore, we propose a conversation system to realize the multimodal communication with a person. Finally, we show several experimental results of the proposed method, and discuss the future direction of this research.

    DOI: 10.1109/TSMCC.2012.2213810

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  • Bacterial memetic algorithm for simultaneous optimization of path planning and flow shop scheduling problems 査読

    János Botzheim, Yuichiro Toda, Naoyuki Kubota

    Artificial Life and Robotics17 ( 1 ) 107 - 112   2012年10月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:Springer Tokyo  

    The paper deals with simultaneous optimization of path planning of mobile robots and flow shop scheduling problem. The goal of the path planning problem is to determine an optimal collision-free path between a start and a target point for a mobile robot in an environment surrounded by obstacles. The objective is to minimize the path length without colliding with an obstacle. On the other hand, shop scheduling problems deal with processing a given set of jobs on a given number of machines. Each operation has an associated machine on which it has to be processed for a given length of time. The problem is to minimize the overall time demand of the whole process. In this paper, we deal with two robots carrying items between the machines. Bacterial memetic algorithm is proposed for solving this combined problem. The algorithm is verified by experimental simulations and compared to classical techniques.

    DOI: 10.1007/s10015-012-0021-9

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  • Bacterial memetic algorithm for offline path planning of mobile robots 査読

    Janos Botzheim, Yuichiro Toda, Naoyuki Kubota

    MEMETIC COMPUTING4 ( 1 ) 73 - 86   2012年3月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:SPRINGER HEIDELBERG  

    The goal of the path planning problem is to determine an optimal collision-free path between a start and a target point for a mobile robot in an environment surrounded by obstacles. This problem belongs to the group of combinatorial optimization problems which are approached by modern optimization techniques such as evolutionary algorithms. In this paper the bacterial memetic algorithm is proposed for path planning of a mobile robot. The objective is to minimize the path length and the number of turns without colliding with an obstacle. The representation used in the paper fits well to the algorithm. Memetic algorithms combine evolutionary algorithms with local search heuristics in order to speed up the evolutionary process. The bacterial memetic algorithm applies the bacterial operators instead of the genetic algorithm's crossover and mutation operator. One advantage of these operators is that they easily can handle individuals with different length. The method is able to generate a collision-free path for the robot even in complicated search spaces. The proposed algorithm is tested in real environment.

    DOI: 10.1007/s12293-012-0076-0

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  • Evolutionary computation for intelligent self-localization in multiple mobile robots based on SLAM 査読

    Yuichiro Toda, Shintaro Suzuki, Naoyuki Kubota

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)7506 ( 1 ) 229 - 239   2012年

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:Springer  

    The localization is one of the most important capabilities for mobile robots. However, other robots can be considered as unknown objects when a mobile robot performs localization, because other robots can enter the sensing range of a mobile robot. Therefore, we propose a method of intelligent selflocalization using evolutionary computation for multiple mobile robots based on simultaneous localization and mapping (SLAM). First, we explain the method of SLAM using occupancy grid mapping by a single mobile robot. Next, we propose an intelligent self-localization method using multi-resolution map and evolutionary computation based on relative position of other robots in the sensing range. The experimental results show the effectiveness of the proposed method. © Springer-Verlag Berlin Heidelberg 2012.

    DOI: 10.1007/978-3-642-33509-9_22

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  • Path planning in probabilistic environment by bacterial memetic algorithm 査読

    János Botzheim, Yuichiro Toda, Naoyuki Kubota

    Smart Innovation, Systems and Technologies14   439 - 448   2012年

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    記述言語:英語   掲載種別:研究論文(学術雑誌)  

    The goal of the path planning problem is to determine an optimal collision-free path between a start and a target point for a mobile robot in an environment surrounded by obstacles. In case of probabilistic environment not only static obstacles obstruct the free passage of the robot, but there are appearances of obstacles with probability. The problem is approached by the bacterial memetic algorithm. The objective is to minimize the path length and the number of turns without colliding with an obstacle. Our method is able to generate a collision-free path in probabilistic environment. The proposed algorithm is tested by simulations. © Springer-Verlag Berlin Heidelberg 2012.

    DOI: 10.1007/978-3-642-29934-6_42

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  • Multi-scale intelligent information processing for multi-robot system based on human-friendly tele-operation 査読

    Naoyuki Kubota, Yuichiro Toda, Shintaro Suzuki

    2011 Int. Symp. on Micro-NanoMechatronics and Human Science, Symp. on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "Hyper Bio Assembler for 3D Cellular System Innovation"   152 - 157   2012年

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    Recently, tele-operation using multi-robot system has been discussed from various viewpoints of shared autonomy, intelligent control, formation behaviors, and information visualization. Furthermore, tele-operation systems have been applied to the remote monitoring of dangerous areas for people such as deep seas, nuclear power plants, and disaster-stricken areas. In this paper, we focus on the structured intelligence based on interconnected intelligent functions of map building, localization of mobile robots, 3D reconstruction and visualization, and human-friendly interface for tele-operation. © 2011 IEEE.

    DOI: 10.1109/MHS.2011.6102177

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  • Simultaneous optimization of path planning and flow shop scheduling by bacterial memetic algorithm 査読

    Janos Botzheim, Yuichiro Toda, Naoyuki Kubota

    PROCEEDINGS OF THE SEVENTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 17TH '12)   512 - 515   2012年

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:ALIFE ROBOTICS CO, LTD  

    The paper deals with simultaneous optimization of path planning of mobile robots and flow shop scheduling problem. The goal of the path planning problem is to determine an optimal collision-free path between a start and a target point for a mobile robot in an environment surrounded by obstacles. The objective is to minimize the path length without colliding with an obstacle. On the other hand, shop scheduling problems deal with processing a given set of jobs on a given number of machines. Each operation has an associated machine on which it has to be processed for a given length of time. The problem is to minimize the makespan, i.e., the overall time demand of the whole process. In this paper we deal with two robots carrying items between the machines. Bacterial memetic algorithm is proposed for solving the problem.

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  • Information Visualization in Intelligent Navigation for Multiple Mobile Robots 査読

    Naoyuki Kubota, Yuichiro Toda

    SIMULATION AND MODELING RELATED TO COMPUTATIONAL SCIENCE AND ROBOTICS TECHNOLOGY37   120 - 139   2012年

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IOS PRESS  

    Recently, multiple mobile robots have been used for exploration and remote monitoring in unknown areas. The required functions for human-friendly remote monitoring and control are (1) Extraction of human intention, (2) Semi-autonomous tele-operation, (3) Multi-robot formation behaviors, (4) Sensor fusion for information extraction, (5) Perception of situation, (6) Decision support based on information visualization and (7) Extraction of human interest. We proposed an intelligent navigation system for human-friendly remote monitoring and control. The intelligent navigation system for multiple mobile robots is composed of simultaneous localization and mapping (SLAM), intelligent path planning based on multi-resolution map, 3D information visualization system, and human navigation system based on touch interface. In this chapter, we focus on the information visualization and map building for remote monitoring and control of multiple mobile robots, and show several experimental results of the proposed methods.

    DOI: 10.3233/978-1-61499-092-5-120

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  • Computational intelligence for human-friendly robot partners based on multi-modal communication 査読

    Yuichiro Toda, Naoyuki Kubota

    1st IEEE Global Conference on Consumer Electronics 2012, GCCE 2012   309 - 313   2012年

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)  

    This paper discusses the multi-modal communication for robot partners based on computational intelligence in informationally structured space. First, we explain recognition methods of touch interface, voice recognition, human detection, gesture recognition used in the multi-modal communication. Furthermore, we propose a conversation system to realize the multi-modal communication with a person. Finally, we show several experimental results of the proposed method, and discuss the future direction on this research. © 2012 IEEE.

    DOI: 10.1109/GCCE.2012.6379611

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  • Information Visualization based on 3D Modeling for Human-friendly Teleoperation 査読

    Yuichiro Toda, Tsubasa Narita, Naoyuki Kubota

    2012 IEEE CONGRESS ON EVOLUTIONARY COMPUTATION (CEC)   1 - 7   2012年

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    This paper proposes a method for 3D modeling of environments used to perform teleoperation of a mobile robot. Recently, the expectation to tele-operated mobile robots has been increasing much in order to perform a monitoring in various scenes. However, there are many critical problems in teleoperated systems. Especially, we must expand visual range from a robot, the usability of human interface, and intention sharing between the robot and operator. First, we discuss information visualization for human-friendly tele-operation. Next, we propose a tele-operating system based on multi-resolution map. Finally, we propose a method of 3D modeling using Microsoft Kinect sensor, and show several experimental results of the proposed method.

    DOI: 10.1109/CEC.2012.6253007

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  • Adaptive Formation Behaviors of Multi-robot for Cooperative Exploration 査読

    Yutaka Yasuda, Naoyuki Kubota, Yuichiro Toda

    2012 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ-IEEE)   1 - 6   2012年

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    This paper proposes a method for constituting the formation of a multi-robot system according to dynamically changing environments. First, we apply a method of multi-objective behavior coordination for integrating behavior outputs from the fuzzy control for collision avoidance and target tracing. Second, we apply a spring model to calculate the temporary target position of each robot for the formation behavior. Third, we discuss multi-robot behaviors based on the concept of coupling. The tight coupling is realized by the spring model while the loose coupling is realized by the individual decision making based on connection and disconnection with other robots. Furthermore, the proposed method is applied to the exploration in unknown environments. Finally, we discuss the effectiveness of the proposed method through several simulation results.

    DOI: 10.1109/FUZZ-IEEE.2012.6251150

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  • Intelligent planning based on multi-resolution map for simultaneous localization and mapping 査読

    Yuichiro Toda, Naoyuki Kubota, Norio Baba

    IEEE SSCI 2011: Symposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space   144 - 150   2011年

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    Simultaneous localization and mapping (SLAM) is one of important topics in robotics. However, we must consider various intelligent behaviors in SLAM, e.g., the exploration of unknown areas and effective path planning of mobile robots. To realize these intelligent behaviors, we use a multi-resolution map. The multi-resolution map can be updated by the operators suitable to a specific aim. The first aim is to represent the occupied or empty cells in the built map. The next aim is to represent the unknown areas in the built map. These are used for the intelligent planning. The intelligent planning is composed of preplanning, online planning, and adaptive planning. These planning methods are used according to the state of a built map. The experimental results show the effectiveness of the proposed method. © 2011 IEEE.

    DOI: 10.1109/RIISS.2011.5945794

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  • Human Motion Tracking for Cognitive Rehabilitation in Informationally Structured Space Based on Sensor Networks 査読

    Yuichiro Toda, Yuki Kodai, Eriko Hiwada, Naoyuki Kubota

    IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ 2011)   1459 - 1465   2011年

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    This paper discusses measurement methods of human behaviors based on sensor network and human interaction of rehabilitation using robot partners. First, we explain robot partners and sensor networks for rehabilitation. Next, we apply a steady-state genetic algorithm to extract human motions from 3D distance image. Finally, we discuss the effectiveness of the proposed methods through several experimental results.

    DOI: 10.1109/FUZZY.2011.6007712

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  • Multifeatured visualization and navigation in tele-operation of mobile robots 査読

    Naoyuki Kubota, Yuichiro Toda, Beom Hee Lee

    IEEE SSCI 2011: Symposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space   85 - 92   2011年

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    Recently, the expectation to tele-operated mobile robots has been increasing much in order to perform the monitoring in various scenes. However, there are many critical problems in tele-operated system. Especially, we must improve the restriction of visual range, the usability of human interface, and intention sharing with the operator. In this paper, we discuss the monitoring system of a tele-operated robot and human interface based on visual information and distance information from the tele-operated mobile robots. Next, we propose a method of a navigation system based on multi-featured visualization. Finally, we propose a tele-operated system using iPhone, and show several experimental results of the proposed method. © 2011 IEEE.

    DOI: 10.1109/RIISS.2011.5945796

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  • Path planning for mobile robots by bacterial memetic algorithm 査読

    János Botzheim, Yuichiro Toda, Naoyuki Kubota

    IEEE SSCI 2011: Symposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space   107 - 112   2011年

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    The goal of the path planning problem is to determine an optimal collision-free path between a start and a target point for a mobile robot in an environment surrounded by obstacles. This problem belongs to the group of hard optimization problems which can be approached by modern optimization techniques such as evolutionary algorithms. In this paper the bacterial memetic algorithm is proposed for path planning of a mobile robot. The representation used in the paper fits well to the algorithm. Memetic algorithms combine evolutionary algorithms with local search heuristics in order to speed up the evolutionary process. The bacterial memetic algorithm applies the bacterial operators instead of the genetic algorithm's crossover and mutation operator. One advantage of these operators is that they easily can handle individuals with different length. The proposed algorithm is tested in real environment. © 2011 IEEE.

    DOI: 10.1109/RIISS.2011.5945787

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  • Formation Behavior of Multiple Robots based on Tele-operation 査読

    Yuki Wagatsuma, Yuichiro Toda, Naoyuki Kubota

    IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ 2011)   713 - 720   2011年

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    Recently, multi-robot systems have been discussed to realize a large size of distributed autonomous system. Furthermore, multi-robot systems have been applied to various problems such as autonomous guided vehicles, soccer robots, and search and rescue system by multi-robot. This paper proposes intelligent formation behavior for the multi-robot based on sensor fusion. First, we discuss multi-agent systems and wireless network technologies. Next, we explain the hardware specification of robot and tele-operated system and wireless communication. Finally, we show experimental results, and discuss the availability of intelligent formation behavior for multi-robot.

    DOI: 10.1109/FUZZY.2011.6007709

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