無限定環境下での複数チームの土砂協働運搬の実現に向けた交渉フローの設計

抄録

The purpose of this study is to design a dynamic collaborative sediment transport system with backhoes and dump trucks in an unlimited environment. In an unlimited environment, it is necessary to evaluate team performance in real-time and flexibly reorganize the team structure, since it is expected that anomalies such as stuck or broken construction machines will occur and the work will not proceed as scheduled. In this study, we propose a system that dynamically and autonomously reorganizes teams by evaluating the efficiency of sediment transport per unit of time as performance. In this paper, we design a dynamic team organization flow based on the negotiation between backhoes as a team organization in a multi-team sediment transport, and examine its validity through simulations.