論文 - 戸田　雄一郎

Growing Neural Gasを用いた3次元サリエンシーマップ推定 査読

古田 優泰, 戸田 雄一郎, 松野 隆幸

知能と情報   37 ( 2 )   607 - 617   2025年5月

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担当区分：責任著者   掲載種別：研究論文（学術雑誌）  

DOI： 10.3156/jsoft.37.2_607

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Length Estimation of Pneumatic Artificial Muscle with Optical Fiber Sensor Using Machine Learning 査読

Yilei Ni, Shuichi Wakimoto, Weihang Tian, Yuichiro Toda, Takefumi Kanda, Daisuke Yamaguchi

25 ( 7 )   2221 - 2221   2025年4月

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掲載種別：研究論文（学術雑誌）  

DOI： 10.3390/s25072221

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Case Study on a Navigation System using Growing Neural Gas 査読

Koki Sakamoto, Yuichiro Toda, Makoto Tsujimoto, Kazuhiko Taniguchi, Takayuki Matsuno

1 - 3   2024年11月

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掲載種別：研究論文（国際会議プロシーディングス）  

DOI： 10.1109/scisisis61014.2024.10760128

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Development of an Underwater Environment Analysis System Based on Neural Network Using Omnidirectional Camera 査読

Kento Utsunomiya, Yuichiro Toda, Takayuki Matsuno

1 - 3   2024年11月

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掲載種別：研究論文（国際会議プロシーディングス）  

DOI： 10.1109/scisisis61014.2024.10760125

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Global Path Planning Based on Rough Terrain Perception Using Growing Neural Gas 査読

Haruka Ozaki, Yuichiro Toda, Dalin Zhou, Takayuki Matsuno

1 - 3   2024年11月

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掲載種別：研究論文（国際会議プロシーディングス）  

DOI： 10.1109/scisisis61014.2024.10760215

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Passability-Based Local Planner Using Growing Neural Gas for an Autonomous Mobile Robot 査読

Koki Ozasa, Yuichiro Toda, Yoshimasa Nakamura, Toshiki Masuda, Hirohide Konishi, Takayuki Matsuno

IEEE Access   12   171824 - 171835   2024年11月

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担当区分：責任著者   掲載種別：研究論文（学術雑誌）  

DOI： 10.1109/access.2024.3499364

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Adaptive Resonance Theory-Based Global Topological Map Building for an Autonomous Mobile Robot 査読

Yuichiro Toda, Naoki Masuyama

IEEE Access   12   111371 - 111385   2024年

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担当区分：筆頭著者,　責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1109/access.2024.3442304

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Privacy-Preserving Continual Federated Clustering via Adaptive Resonance Theory. 査読

Naoki Masuyama, Yusuke Nojima, Yuichiro Toda, Chu Kiong Loo, Hisao Ishibuchi, Naoyuki Kubota

IEEE Access   12   139692 - 139710   2024年

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掲載種別：研究論文（学術雑誌）  

DOI： 10.1109/ACCESS.2024.3467114

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Proposal of new topology information Face-list for manipulation planning of deformable string tying 査読

Junxiang Wang, Tomoya Shirakawa, Tomotoshi Watanabe, Yuichiro Toda, Takayuki Matsuno

SICE Journal of Control, Measurement, and System Integration   16 ( 1 )   257 - 272   2023年7月

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掲載種別：研究論文（学術雑誌）   出版者・発行元：Informa UK Limited  

DOI： 10.1080/18824889.2023.2236367

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Growing Neural Gas based Traversability Clustering for an Autonomous Robot. 査読

Koki Ozasa, Yuichiro Toda, Takayuki Matsuno

IJCNN   1 - 6   2023年

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掲載種別：研究論文（国際会議プロシーディングス）  

DOI： 10.1109/IJCNN54540.2023.10191416

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その他リンク： https://dblp.uni-trier.de/db/conf/ijcnn/ijcnn2023.html#OzasaTM23

Automatic Detection of Puncture Needle from CT Image with Deep Learning and Difference of CT Value Along Craniocaudal Direction. 査読

Seiya Kobayashi, Yuichiro Toda, Takayuki Matsuno, Kotaro Mayumi, Wataru Muramoto, Nozomu Fujitsuka, Takaaki Tanaka, Tetsushi Kamegawa, Takao Hiraki

SMC   4947 - 4952   2023年

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掲載種別：研究論文（国際会議プロシーディングス）  

DOI： 10.1109/SMC53992.2023.10394655

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その他リンク： https://dblp.uni-trier.de/db/conf/smc/smc2023.html#KobayashiTMMMFT23

Growing neural gas based navigation system in unknown terrain environment for an autonomous mobile robot 査読

Yuichiro Toda, Koki Ozasa, Takayuki Matsuno

Artificial Life and Robotics   2022年11月

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担当区分：筆頭著者,　責任著者   掲載種別：研究論文（学術雑誌）   出版者・発行元：Springer Science and Business Media LLC  

DOI： 10.1007/s10015-022-00826-y

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その他リンク： https://link.springer.com/article/10.1007/s10015-022-00826-y/fulltext.html

A method for estimating the volume of clusters built by Growing Neural Gas 査読

QI LI, Yuichiro Toda, Takayuki Matsuno

2022年11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）  

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Topological based Environmental Reconstruction for Efficient Multi-Level Control of Robot Locomotion 査読

Azhar Aulia Saputra, Chin Wei Hong, Mohamad Yani, Fernando Ardilla, Adnan Rachmat Anom Besari, Yuichiro Toda, Naoyuki Kubota

2022 International Electronics Symposium (IES)   491 - 496   2022年8月

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掲載種別：研究論文（国際会議プロシーディングス）  

DOI： 10.1109/ies55876.2022.9888288

Scopus

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Environmental Map Learning Method based on Growing Neural Gas for a Mobile Robot 査読

Qi Li, Yuichiro Toda, Keisuke Nagao, Takayuki Matsuno

2022 International Joint Conference on Neural Networks (IJCNN)   2022年7月

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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/ijcnn55064.2022.9892864

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Estimation of Needle Puncturing Form during Slight Needle Movement Based on Force Data for Robotic Automated Puncturing Function 査読

Takayuki Matsuno, Hikaru Murakami, Tetsushi Kamegawa, Nanako Sakai, Takao Hiraki, Yuichiro Toda

Journal of Medical Robotics Research   07 ( 02n03 )   2022年6月

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掲載種別：研究論文（学術雑誌）   出版者・発行元：World Scientific Pub Co Pte Ltd  

In this paper, we focused on the medical procedure to insert needles under computer tomography (CT) guidance as a target for the robotization of medical surgery, which is one of Interventional Radiology (IR). IR is a general term for treatments that use devices to visualize patients’ bodies. During surgery, our developed robot, known as Zerobot, specializes in inserting a needle into the patient under CT guidance. Its surgery is less invasive and more effective in treating small cancer tumors because the temperature of the inserted needle tip is controlled. Zerobot was originally designed to be remotely controlled by doctors, and first-in-human feasibility trials in 2018 confirmed its surgical capability. We are currently focusing on the automatic insertion function to reduce the workload of doctors. In an animal experiment, Zerobot was unable to insert the needle into the animal during IR surgery if the needle was bent. As a result, the goal of this research is to have the robot function automatically so that the needle does not bend during surgery. We propose a method for estimating the form of the needle using a force sensor. There are three different types of needle forms. Next, the proposed method distinguishes between these needle forms by measuring the difference in force sensor data when the needle root is moved slightly. In addition, we conducted tests to confirm the efficacy of the proposed method.

DOI： 10.1142/s2424905x22410045

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Growing Neural Gas with Different Topologies for 3D Space Perception 査読

Yuichiro Toda, Akimasa Wada, Hikari Miyase, Koki Ozasa, Takayuki Matsuno, Mamoru Minami

Applied Sciences   12 ( 3 )   1705 - 1705   2022年2月

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担当区分：筆頭著者,　責任著者   掲載種別：研究論文（学術雑誌）   出版者・発行元：{MDPI} {AG}  

DOI： 10.3390/app12031705

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A new method to estimate the pose of an arbitrary 3D object without prerequisite knowledge: projection-based 3D perception. 査読

Yejun Kou, Yuichiro Toda, Mamoru Minami

Artif. Life Robotics   27 ( 1 )   149 - 158   2022年

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掲載種別：研究論文（学術雑誌）  

DOI： 10.1007/s10015-021-00718-7

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Stereo-vision-based AUV navigation system for resetting the inertial navigation system error. 査読

Horng-Yi Hsu, Yuichiro Toda, Kohei Yamashita, Keigo Watanabe, Masahiko Sasano, Akihiro Okamoto, Shogo Inaba, Mamoru Minami

Artif. Life Robotics   27 ( 1 )   165 - 178   2022年

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掲載種別：研究論文（学術雑誌）  

DOI： 10.1007/s10015-021-00720-z

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Automatic Puncture Needle Detection by Image Processing Using Deep Learning and CT Values.

Kotaro Mayumi, Takayuki Matsuno, Tetsushi Kamegawa, Ken'ichi Morooka, Takao Hiraki, Yuichiro Toda

International Symposium on Micro-NanoMechatronics and Human Science(MHS)   1 - 6   2022年

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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/MHS56725.2022.10092168

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その他リンク： https://dblp.uni-trier.de/db/conf/mhs/mhs2022.html#MayumiMKMHT22

Multilayer Batch Learning Growing Neural Gas for Learning Multiscale Topologies 査読

Yuichiro Toda, Takayuki Matsuno, Mamoru Minami

Journal of Advanced Computational Intelligence and Intelligent Informatics   25 ( 6 )   1011 - 1023   2021年11月

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担当区分：筆頭著者,　責任著者   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 Ltd.  

Hierarchical topological structure learning methods are expected to be developed in the field of data mining for extracting multiscale topological structures from an unknown dataset. However, most methods require user-defined parameters, and it is difficult for users to determine these parameters and effectively utilize the method. In this paper, we propose a new parameter-less hierarchical topological structure learning method based on growing neural gas (GNG). First, we propose batch learning GNG (BL-GNG) to improve the learning convergence and reduce the user-designed parameters in GNG. BL-GNG uses an objective function based on fuzzy C-means to improve the learning convergence. Next, we propose multilayer BL-GNG (MBL-GNG), which is a parameter-less unsupervised learning algorithm based on hierarchical topological structure learning. In MBL-GNG, the input data of each layer uses parent nodes to learn more abstract topological structures from the dataset. Furthermore, MBL-GNG can automatically determine the number of nodes and layers according to the data distribution. Finally, we conducted several experiments to evaluate our proposed method by comparing it with other hierarchical approaches and discuss the effectiveness of our proposed method.

DOI： 10.20965/jaciii.2021.p1011

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Growing Neural Gasに基づく環境のトポロジカルマップの構築と未知環境における経路計画 査読

戸田 雄一郎, 宮瀬 光梨, 岩朝 睦美, 和田 亮雅, 竹田 宗馬, 松野 隆幸, 久保田 直行, 見浪 護

知能と情報   33 ( 4 )   872 - 884   2021年11月

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担当区分：筆頭著者,　責任著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）  

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複数属性から構成される特徴ベクトルにおけるGrowing Neural Gasに基づく空間構造の学習 査読

戸田 雄一郎, 和田 亮雅, 松野 隆幸, 見浪 護

計測自動制御学会論文集   57 ( 4 )   209 - 218   2021年4月

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担当区分：筆頭著者,　責任著者   掲載種別：研究論文（学術雑誌）  

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水中ロボットの海底充電システム構築のための海流外乱適応型嵌合システム 査読

戸田雄一郎, 山下耕平, 門田拓也, Hsu Horng-Yi, 齊藤和裕, 見浪護

日本船舶海洋工学会論文集   32   2021年

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担当区分：筆頭著者,　責任著者   掲載種別：研究論文（学術雑誌）  

J-GLOBAL

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水中ロボットの自動嵌合制御のための発光次元マーカーを用いた光環境適応特性を有する3次元空間認識手法 査読

戸田雄一郎, 中村翔, Hsu Horng-Yi, 見浪護

日本船舶海洋工学会論文集   32   2021年

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担当区分：筆頭著者,　責任著者   掲載種別：研究論文（学術雑誌）  

J-GLOBAL

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A cause of natural arm-swing in bipedal walking. 査読

Yuichiro Toda, Ying Wang, Mamoru Minami

Artif. Life Robotics   26 ( 1 )   76 - 83   2021年

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担当区分：筆頭著者,　責任著者   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  

The research of humanoid is widely discussed whether by simulations or real machines. In human bipedal walking, swinging arms in opposite directions is a natural movement. In this research, a model of the humanoid robot, including slipping, bumping, surface-contacting and point-contacting of the foot has been established, and its dynamical equation is derived by the Newton-Euler method. And the natural arm-swing simulation has been produced, which showed that the input torque in yaw rotation of the torso could cause natural arm-swing. "Natural" means that the arm-swinging motion is induced by coupling effects existing in nonlinear dynamics of humanoid robot even though no torques have been input into shoulders. Based on the results, a hypothesis that the vibration in the yaw rotation of the torso caused natural arm swing is proposed. In this paper, we compared the arm-swing movement with or without the input torque of yaw rotation of the torso by using the above humanoid robot model. The simulation data proved the hypothesis to be valid.

DOI： 10.1007/s10015-020-00636-0

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Stereo-vision-based AUV docking system for resetting the Inertial Navigation System errors 査読

Horng-Yi Hsu, Yuichiro Toda, Kohei Yamashita, Keigo Watanabe, Mamoru Minami

26th International Symposium on Artificial Life and Robotics   2021年

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掲載種別：研究論文（国際会議プロシーディングス）  

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Fitness Calculation with a FPGA Implementation 査読

Shiqian Luo, Yuichiro Toda, Mamoru Minami

26th International Symposium on Artificial Life and Robotics   2021年

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掲載種別：研究論文（国際会議プロシーディングス）  

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Expanding the recognition distance using the Model-based Matching method and the 2D model by zoom cameras 査読

Siyu Pan, Renya Takahashi, Jincheng Li, Yuichiro Toda, Mamoru Minami

26th International Symposium on Artificial Life and Robotics   2021年

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掲載種別：研究論文（国際会議プロシーディングス）  

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Multi-Scale Batch-Learning Growing Neural Gas for Topological Feature Extraction in Navigation of Mobility Support Robots 査読

Mutsumi Iwasa, Naoyuki Kubota, Yuichiro Toda

The 7th International Workshop on Advanced Computational Intelligence and Intelligent Informatics   2021年

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掲載種別：研究論文（国際会議プロシーディングス）  

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A New Concept of Pose Estimation of Arbitrary 3D Object without Prerequisite Knowledge: Projection-based 3D Perception 査読

Yejun Kou, Yuichiro Toda, Mamoru Minami

26th International Symposium on Artificial Life and Robotics   2021年

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掲載種別：研究論文（国際会議プロシーディングス）  

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発光型3次元マーカーの濁度耐性の検証とその有効性確認のための実海域ドッキング実験 査読

戸田 雄一郎, 向田 直樹, 許 弘毅, 見浪 護

日本船舶海洋工学会論文集   31   145 - 161   2020年

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担当区分：筆頭著者,　責任著者   掲載種別：研究論文（学術雑誌）  

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Adaptive evolution strategy sample consensus for 3D reconstruction from two cameras. 査読

Yuichiro Toda, Hsu Horng Yz, Takayuki Matsuno, Mamoru Minami, Dalin Zhou

Artif. Life Robotics   25 ( 3 )   466 - 474   2020年

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担当区分：筆頭著者,　責任著者   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  

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. In our previous work, we proposed Adaptive Evolution Strategy SAmple Consensus (A-ESSAC) as a new robust estimator, and we applied ESSAC to the homography matrix estimation for 3D SLAM using RGB-D camera. A-ESSAC is based on Evolution Strategy to maintain the genetic diversity. Furthermore, ESSAC has two heuristic searches. One is a search range control for reducing the computational cost of RANSAC. The other is adaptive/self-adaptive mutation for changing the search strategy of A-ESSAC according to the best fitness value. In this paper, we apply A-ESSAC to 3D reconstruction method using two cameras, and we show an experimental result, and discuss the effectiveness of the proposed method.

DOI： 10.1007/s10015-020-00603-9

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Visibility improvement in relation to turbidity and distance, and application to docking. 査読

Horng-Yi Hsu, Yuichiro Toda, Keigo Watanabe, Mamoru Minami

Artif. Life Robotics   25 ( 3 )   453 - 465   2020年

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掲載種別：研究論文（学術雑誌）  

DOI： 10.1007/s10015-020-00606-6

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3D Simultaneous Localization and Mapping for AUV by RealTime 3-D Perception 査読

Yuya Okada, Yuichiro Toda, Yoshiki Kanda, Mamoru Minami

25th International Symposium on Artificial Life and Robotics   2020年

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掲載種別：研究論文（国際会議プロシーディングス）  

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The Cause of Natural Arm-swing in Bipedal Walking 査読

Ying Wang, Yuichiro Toda, Mamoru Minami

25th International Symposium on Artificial Life and Robotics   2020年

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掲載種別：研究論文（国際会議プロシーディングス）  

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Intelligent Control for Illuminance Measurement by an Autonomous Mobile Robot 査読

R. Inoue, T. Arai, Y. Toda, M. Tsujimoto, K. Taniguchi, N. Kubota

Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO   2019-October   270 - 274   2019年10月

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掲載種別：研究論文（国際会議プロシーディングス）  

Over the last decade, the labor shortage suffers various industry sectors due to declining birthrate and aging population. Thus, autonomous robots have been widely researched for overcoming the labor-shortage phenomena. The construction sector is one of the industries that require high manpower to conduct various tasks. Traditional illuminance measurement in construction sites is one of the tasks that require much manpower and consumption time. As such, the development of various robots has been conducted to autonomously measure construction sites' illuminance. In this paper, we develop an autonomous mobile robot to perform illuminance measurement while performing simultaneous localization and mapping (SLAM), and obstacle avoidance. Human operators first set a navigation path and send it to the robot. With the given path, the robot starts to navigate the environment autonomously and measures the illuminance of the target points in the environment. The robot is validated through several experiments conducted in real-world indoor environments. Experimental results showed that the robot was able to autonomously measure the illuminance of the environment.

DOI： 10.1109/ARSO46408.2019.8948806

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Experimental verification of turbidity tolerance of stereo-vision-based 3D pose estimation system 査読

Myo Myint, Khin Nwe Lwin, Naoki Mukada, Daiki Yamada, Takayuki Matsuno, Yuuichirou Toda, Saitou Kazuhiro, Mamoru Minami

Journal of Marine Science and Technology   24 ( 3 )   756 - 779   2019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：Springer Science and Business Media LLC  

This paper presents the verification of the turbidity tolerance of a stereo-vision-based 3D pose estimation system for underwater docking applications. To the best of the authors' knowledge, no studies have yet been conducted on 3D pose (position and orientation) estimation against turbidity for underwater vehicles. Therefore, the effect of turbidity on the 3D pose estimation performance of underwater vehicles and a method of operating under turbid conditions were studied in this work. A 3D pose estimation method using the real-time multi-step genetic algorithm (RM-GA) proposed by the authors in the previous works shows robust pose estimation performance against changing environmental conditions. This paper discusses how and why the RM-GA is well suited to effective 3D pose estimation, even when turbid conditions disturb visual servoing. The experimental results confirm the performance of the proposed 3D pose estimation system under different levels of turbidity. To demonstrate the practical usefulness of the RM-GA, docking experiments were conducted in a turbid pool and a real sea environment to verify the performance and tolerance of the proposed system under turbid conditions. The experimental results verify the robustness of the system against turbidity, presenting a possible solution to a major problem in the field of robotics.

DOI： 10.1007/s00773-018-0586-7

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その他リンク： http://link.springer.com/article/10.1007/s00773-018-0586-7/fulltext.html

Behavior Acquisition on a Mobile Robot Using Reinforcement Learning with Continuous State Space 査読

Tomoyuki Arai, Yuichiro Toda, Naoyuki Kubota

Proceedings - International Conference on Machine Learning and Cybernetics   2019-July   458 - 461   2019年7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：IEEE  

In the application of Reinforcement Learning to real tasks, the construction of state space is a significant problem. In order to use in the real-world environment, we need to deal with the problem of continuous information. Therefore, we proposed a method of the construction of state space using Growing Neural Gas. In our method, the agent constructs a state space model from its own experience autonomously. Furthermore, it can reconstruct the suitable state space model to adapt the complication of the environment. Through the experiments, we showed that Reinforcement Learning could be performed efficiently by successively updating the state space model according to the environment.

DOI： 10.1109/ICMLC48188.2019.8949181

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Human Posture Recognition for Estimation of Human Body Condition 査読

Wei Quan, Jinseok Woo, Yuichiro Toda, Naoyuki Kubota

JOURNAL OF ADVANCED COMPUTATIONAL INTELLIGENCE AND INTELLIGENT INFORMATICS   23 ( 3 )   519 - 527   2019年5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 LTD  

Human posture recognition has been a popular research topic since the development of the referent fields of human-robot interaction, and simulation operation. Most of these methods are based on supervised learning, and a large amount of training information is required to conduct an ideal assessment. In this study, we propose a solution to this by applying a number of unsupervised learning algorithms based on the forward kinematics model of the human skeleton. Next, we optimize the proposed method by integrating particle swarm optimization (PSO) for optimization. The advantage of the proposed method is no pre-training data is that required for human posture generation and recognition. We validate the method by conducting a series of experiments with human subjects.

DOI： 10.20965/jaciii.2019.p0519

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An incremental episodic memory framework for topological map building 査読

Wei Hong Chin, Azhar Aulia Saputra, Yuichiro Toda, Naoyuki Kubota

International Electronics Symposium on Knowledge Creation and Intelligent Computing, IES-KCIC 2018 - Proceedings   322 - 327   2019年1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：IEEE  

In this paper, an episodic memory learning framework is proposed for categorizing and encoding sensory information that acquired from a robot for environment adaptation and sensorimotor map building. The proposed learning model termed as Incremental Episodic Memory Adaptive Resonance Theory (In-EMART), consists two layers of ART networks which used to detect novel event encountered by the robot and learn the spatio-temporal relationship by creating neurons incrementally. A set of connected episodes forms a sensorimotor map that can be used for path planning and goal navigation autonomously. The experimental results for a mobile robot show that: (i) In-EMART can learn sensory data in real time which is important for robot implementation; (ii) the model solves the perceptual aliasing issue by recalling the connected episode neurons; (iii) compared with previous works, the proposed method further generates a sensorimotor map for connecting episodes together to navigate from one place to another continuously.

DOI： 10.1109/KCIC.2018.8628468

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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   11742   82 - 91   2019年

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担当区分：筆頭著者,　責任著者   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： 10.1007/978-3-030-27535-8_8

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

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

IEEE Trans. Cogn. Dev. Syst.   11 ( 2 )   210 - 220   2019年

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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  

In this paper, an unsupervised learning model of episodic memory is proposed. The proposed model, enhanced episodic memory adaptive resonance theory (EEM-ART), categorizes and encodes experiences of a robot to the environment and generates a cognitive map. EEM-ART consists of multilayer ART networks to extract novel events and encode spatio-temporal connection as episodes by incrementally generating cognitive neurons. The model connects episodes to construct a sensorimotor map for the robot to continuously perform path planning and goal navigation. Experimental results for a mobile robot indicate that EEM-ART can process multiple sensory sources for learning events and encoding episodes simultaneously. The model overcomes perceptual aliasing and robot localization by recalling the encoded episodes with a new anticipation function and generates sensorimotor map to connect episodes together to execute tasks continuously with little to no human intervention.

DOI： 10.1109/TCDS.2018.2875309

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Dynamic Density Topological Structure Generation for Real-Time Ladder Affordance Detection 査読

Azhar Aulia Saputra, Wei Hong Chin, Yuichiro Toda, Naoyuki Takesue, Naoyuki Kubota

2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   3439 - 3444   2019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 method with dynamic density topological structure generation for low-cost real-time vertical ladder detection from 3D point cloud data. Dynamic Density Growing Neural Gas (DD-GNG) is proposed to generate a dynamic density of the topological structure. The density of the structure and the number of nodes will be increased in the targeted object area. Feature extraction model is required to classify suspected objects for being processed in the next time process. After that, rungs of the vertical ladder is processed using an inlier-outlier method. Thus, the ladder detection model represents the ladder with a set of nodes and edges. Next, affordance detection is processed for detecting the feasible grasped location. To validate the effectiveness of the proposed method, a series of experiments are conducted on a 4-legged robot with a non-GPU board for real-time vertical ladder detection and climbing to validate the effectiveness of the proposed method. Results show that our proposed method able to detect and track the ladder structure in real-time with a much lower computational cost. The affordance of the ladder provides safety information for robot grasping.

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A Novel Capabilities of Quadruped Robot Moving through Vertical Ladder without Handrail Support 査読

Azhar Aulia Saputra, Yuichiro Toda, Naoyuki Takesue, Naoyuki Kubota

2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   1448 - 1453   2019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 the novel capabilities of a quadruped robot by performing horizontal-vertical-horizontal movement transition through vertical ladder without handrailing supporter. To overcome the proposed problem, we propose a multi-behavior generation model using independent stepping and pose control in the quadruped robot. The model is able to generate appropriate behavior depending on external (3D point clouds) and internal sensors (ground touch sensor, and Inertial Measurement Unit). Posture condition, safe movement area, possible touchpoint, grasping possibility, and target movement are the information that is analyzed from the sensors. There are four options developed in behavior generation, which are, Approaching, Body Placing, Stepping, and Grasping behavior. In order to prove the effectiveness of the proposed algorithm, the model was implemented on the computer simulation and the real application. Before being applied in the real robot, the proposed model is optimized in the computer simulation. Then, the optimized parameter is used for applying in the real robot. As a result, the robot succeeded to move through the ladder without handrail from lower stair to upper stair. From the analysis, the body placing behavior is the most important strategy in the proposed case.

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WAREC-1 – A Four-Limbed Robot with Advanced Locomotion and Manipulation Capabilities 査読

Kenji Hashimoto, Takashi Matsuzawa, Xiao Sun, Tomofumi Fujiwara, Xixun Wang, Yasuaki Konishi, Noritaka Sato, Takahiro Endo, Fumitoshi Matsuno, Naoyuki Kubota, Yuichiro Toda, Naoyuki Takesue, Kazuyoshi Wada, Tetsuya Mouri, Haruhisa Kawasaki, Akio Namiki, Yang Liu, Atsuo Takanishi, Satoshi Tadokoro

128   327 - 397   2019年

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記述言語：英語   掲載種別：論文集(書籍)内論文  

DOI： 10.1007/978-3-030-05321-5_7

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自律移動ロボットによる未知環境の位相構造獲得と目標物への経路学習 査読

岩朝睦美, 戸田雄一郎, 新井智之, 久保田直行

システム制御情報学会論文誌   32 ( 6 )   2019年

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掲載種別：研究論文（学術雑誌）  

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予測可能な移動障害物のある環境における時空間グラフを用いた大域的経路探索と行動計画 査読

岩朝 睦美, 戸田 雄一郎, 久保田 直行

日本機械学会論文集(Web)   85 ( 876 )   18 - 00254   2019年

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掲載種別：研究論文（学術雑誌）  

DOI： 10.1299/transjsme.18-00254

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Guidance Control and Docking of Remote Operated Vehicles 査読

Xiang Li, Yuichirou Toda, Mamoru Minami

24th International Symposium on Artificial Life and Robotics   2019年

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掲載種別：研究論文（国際会議プロシーディングス）  

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Improving pose estimation accuracy and expanding of visible space of lighting 3D marker in turbid water 査読

Horng-Yi Hsu, Naoki Mukada, Daiki Yamada, Khin I Lwin, Myo Myint, Yuichiro Toda, Takayuki Matsuno, Keigo Watanabe, Mamoru Minami

Proceedings of 2019 IEEE Underwater Technology   2019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）  

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Needle Angle Offset Compensation Based on Volume CT Image for Needle Puncture Robot 査読

Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki, Yuichiro Toda, Mamoru Minami

24th International Symposium on Artificial Life and Robotics   2019年

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掲載種別：研究論文（国際会議プロシーディングス）  

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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 Systems   10 ( 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 - Proceedings   2018-   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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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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担当区分：筆頭著者,　責任著者   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/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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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/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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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： 10.23919/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   10984   393 - 403   2018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： 10.1007/978-3-319-97586-3_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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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/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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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/SCIS-ISIS.2018.00219

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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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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/SCIS-ISIS.2018.00220

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Improvement of 3D Pose Estimation Abilities by Light-Emitting-3D Marker for AUV Docking

Kohei Yamashita, Hsu Horng Yi, Daiki Yamada, Naoki Mukada, Khin New Lwin, Myo Myint, Yuichiro Toda, Takayuki Matsuno, Mamoru Minami

OCEANS 2018 MTS/IEEE CHARLESTON   2018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  

Disturbances of turbidity and low illuminance are problems in real sea areas when recognizing objects with cameras. Therefore, the recognition target was made to emit light so that it can be recognized correctly even in that environment. However, a suitable light intensity of the target was not decided and it is obvious that recognition results was changed by light intensity of the target. This paper presents the analysis of recognition accuracy of the Real-time 3D estimation system by changing the current value of each color LED (red, green, blue) under turbid and low illuminance. Recognition experiments were conducted at the distance 600 [mm] between the ROV and 3D marker. The turbidity level was set constant value. The current value was changing from 0 [mA] to 16 [mA] for each LED individually. The best current for each LED was optimized by the fitness value and estimation value of position and orientation. The results showed that the recognition accuracy of the proposed system was improved by using optimized lighting intensity.

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Applying Lighting Marker and Stereo-vision to V-shaped-thruster Vehicle for AUV Deep Sea Docking

Yoshiki Kanda, Myo Myint, Naoki Mukada, Daiki Yamada, Khin Lwin, Takayuki Matsuno, Yuichiro Toda, Mamoru Minami

OCEANS 2018 MTS/IEEE CHARLESTON   2018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  

A stereo-vision-based system of autonomous under-water vehicles (AUVs) for sea-bottom docking that enables for battery recharging to extend persistence time of underwater operation has been developed. This paper presents the docking experiment using a developed V-shaped-thruster typed under-water vehicle. A real-time 3D pose (position and orientation) estimation method using a real-time multi-step genetic algorithm (RM-GA) has been proposed by the authors in previous works and used for docking based on 3D recognition as a feedback pose information in real-time, named as 3D Move on Sensing (3D-MoS). Sea docking experiment results have confirmed the functionality and practicality of proposed docking approach using a hovering typed ROV in previous works. Since the hovering typed underwater vehicles are limited in mobilities concerning speed and operational space, verification of the 3D-MoS system using underwater vehicle that has more mobility deem to be meaningful direction for vision-based docking system to expand the utility value of AUVs. Therefore, in this study, control system for a new V-shaped-thruster typed vehicle is developed and docking experiment is conducted. This paper presents the development of the hardware design of V-shaped-thruster typed underwater vehicle and improvement of controlling with consideration of coupled configuration of thrusters.

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Development of Dual-eyes Docking System for AUV with Lighting 3D Marker

Sho Nakamura, Daiki Yamada, Naoki Mukada, Myo Myint, Khin New Lwin, Takayuki Matsuno, Yuichiro Toda, Mamoru Minami

OCEANS 2018 MTS/IEEE CHARLESTON   2018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 that our proposed docking system could apply for a new Remotely Operated Vehicle(ROV). The authors have proposed a 3D-perception based Move on Sensing (3D-MoS) system using a new 3D position and orientation (pose) estimation method with dual-eye camera that exploits the parallactic nature that enables reliable 3D pose estimation in real-time, named as "Real-time Multi-step Genetic Algorithm (RM-GA)." We confirmed ROV have conducted docking that assumes charging battery under water by the system, having shown it effective. As a next step, docking experiment using the new ROV were conducted to verify the proposed system apply for new ROV. But, the new ROV is different from a ROV that have used previous experiments, on the point of thruster setting structure. Then, a new control system using Jacobian that shows relationship voltage and velocity was constructed. After it is confirmed the system is effective, docking experiments In the pool have been conducted. In this report, the structure and result of experiments are reported in detail.

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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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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/MHS.2017.8305188

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An odometry-free approach for simultaneous localization and online hybrid map building

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

Frontiers Robotics AI   3 ( NOV )   2016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：FRONTIERS MEDIA SA  

In this article, we propose a new approach for mobile robot localization and hybrid map building simultaneously without using any odometry hardware system. The proposed method termed as Genetic Bayesian ARAM comprises 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 online topological map building. The model of the explored environment is formed as a hybrid representation, both topological and grid based, and it is incrementally constructed during the exploration process. During occupancy map building, the robot-estimated self-position is updated by SSGA. At the same time, the robot-estimated self-position is transmitted to Bayesian ARAM for topological map building and localization. The effectiveness of our proposed approach is validated by a number of standardized benchmark datasets and real experimental results carried on the mobile robot. Benchmark datasets are used to verify the proposed method capable of generating topological map in different environment conditions. Real robot experiment to verify the proposed method can be implemented in real world.

DOI： 10.3389/frobt.2016.00068

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Evolution strategy sampling consensus for robust estimator 査読

Yuichiro Toda, Naoyuki Kubota

Journal of Advanced Computational Intelligence and Intelligent Informatics   20 ( 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 COMPUTING   38   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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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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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 II   9835   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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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 III   9246   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 INFORMATICS   9 ( 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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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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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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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 REVIEWS   42 ( 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 Robotics   17 ( 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 COMPUTING   4 ( 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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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

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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 TECHNOLOGY   37   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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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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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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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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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

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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.

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Path planning using multi-resolution map for a mobile robot

Yuichiro Toda, Naoyuki Kubota

Proceedings of the SICE Annual Conference   1276 - 1281   2011年

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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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