土工環境における複数異種の建設ロボット運用のためのシステムアーキテクチャの提案

抄録

The constructions in earthwork environments, such as lunar and disaster sites, often involve extensive and hazardous work with heavy equipment. In particular, to prevent secondary disasters and to adapt to changes in the environment, the multiple robotic operations are expected to be highly effective. Several systems have been developed to address this, while they still have not reached to real systems due to the complicated field properties and the issues of how multiple-heterogeneous robots effectively cooperate. In this study, we propose a design concept for a system architecture that can be efficiently researched and developed to use multiple heterogeneous construction robots in earthwork environments. Realistic simulation experiments with both earthwork properties and robotic characteristics have shown the applicability of the proposed system architecture.