1A1-F06 群ロボットを用いたマルチホップテレオペレーションによる実環境観測(群ロボットの協調制御)

抄録

This paper deals with a multihop teleoperation by mobile robotic sensor network in an unknown environment. A mobile robotic sensor network is composed of distributed collection of mobile robots, each of which has sensing, computation, communication and locomotion capabilities. Such a network is capable of changing the network topology in order to gather distributed information to the sink node in an unknown and dynamic environment. To realize this network, we propose a self-deployment algorithm by which robots can explore to an environment maintaining their communication link. Additionally, a routing algorithm is developed so that observed data from a robot is transferred to the sink. Furthermore, mobile robot system inter-linked with peer-to-peer communication is developed. Finally, the multihop teleoperation system is developed for a multi-robot cooperation platform.