研究者詳細 - 戸田　雄一郎

論文 - 戸田　雄一郎

分割表示 96 件中 81 - 96 件目／全件表示 >>

Bacterial memetic algorithm for offline path planning of mobile robots 査読

Janos Botzheim, Yuichiro Toda, Naoyuki Kubota

MEMETIC COMPUTING 4 ( 1 ) 73 - 86 2012年3月

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

Path planning in probabilistic environment by bacterial memetic algorithm 査読

János Botzheim, Yuichiro Toda, Naoyuki Kubota

Smart Innovation, Systems and Technologies 14 439 - 448 2012年

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

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

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

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

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.

Information Visualization in Intelligent Navigation for Multiple Mobile Robots 査読

Naoyuki Kubota, Yuichiro Toda

SIMULATION AND MODELING RELATED TO COMPUTATIONAL SCIENCE AND ROBOTICS TECHNOLOGY 37 120 - 139 2012年

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Information support systems to people in emergence situation

Shintaro Suzuki, Yuichiro Toda, Nan Shuo, Naoyuki Kubota

IWACIII 2011 - International Workshop on Advanced Computational Intelligence and Intelligent Informatics, Proceedings 2011年

掲載種別：研究論文（国際会議プロシーディングス）

Recently, tele-operation has been used for various application fields such as remote monitoring for public areas and rescues in disasters. This paper discusses the capability of communication by movable people using smart phones in case of disasters through computer simulations, and visualization of disasters and information reliability based on map building through wireless communication. First, we discuss the tele-operation based on robot technology, information technology, communication technology, and intelligent technology. Next, we propose a computer simulation model of wireless communication among unmovable and movable people using smart phones. Next, we propose a visualization method based on map building through wireless emergency communication. Finally, we show several preliminary simulation results, and discuss the effectiveness of smart phones using wireless emergency communication.

Path planning using multi-resolution map for a mobile robot

Yuichiro Toda, Naoyuki Kubota

Proceedings of the SICE Annual Conference 1276 - 1281 2011年

掲載種別：研究論文（国際会議プロシーディングス）

Path planning is one of important topics in robotics. When the mobile robot is building the map, it is better to use the higher resolution map in order to build a precise map. However, after the map building, if the resolution of the built map is very high, it takes much computational memory and time to perform the path planning. To realize the effective path planning, 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 path planning. The path planning is based on potential field method. The path planning uses steady-state genetic algorithm in order to set up the sub-target points. The experimental results show the effectiveness of the proposed method. © 2011 SICE.

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