{"created":"2023-05-15T12:00:25.142560+00:00","id":7215,"links":{},"metadata":{"_buckets":{"deposit":"c9dfd9a4-afe5-47c8-9f4d-77fa58237737"},"_deposit":{"created_by":3,"id":"7215","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"7215"},"status":"published"},"_oai":{"id":"oai:kyutech.repo.nii.ac.jp:00007215","sets":["8:24"]},"author_link":["28998","31051","31054","31052","31055"],"control_number":"7215","item_21_alternative_title_18":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"Cooperative Transportation of Robot Swarm Using Pheromone Communication","subitem_alternative_title_language":"en"}]},"item_21_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2011-11-30","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"4","bibliographicPageEnd":"18","bibliographicPageStart":"10","bibliographicVolumeNumber":"4","bibliographic_titles":[{"bibliographic_title":"情報処理学会論文誌. 数理モデル化と応用"}]}]},"item_21_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"蟻は，フェロモンを用いてコミュニケーションすることが知られており，その社会は高度に洗練されている．このコミュニケーションは，フェロモン・コミュニケーションと呼ばれている．群れは，個体の内部状態を遷移させることによって総体の状態を複雑に変化させることができ，外的な問題に対して柔軟に対応する．本論文では，我々はロボット群に焦点を当て，そのロボット群が化学物質を用いて協調運搬を実現する．新規に設計した群行動ルールによって現実のロボット群は餌を蟻の巣に模した場所まで協調運搬する．我々は，ロボット群が餌を発見して巣に持ち帰るまでの時間 （タスク解決時間） に注目し実験をした．その結果，環境中の個体密度が低いときにフェロモン・コミュニケーションが有効に働くことを発見した．そして，システムのロバスト性や柔軟性を評価する実験，行動ルールの効果を検証した． / Ants communicate with each other using pheromones, and their society is highly sophisticated. When foraging, they transport cooperatively with interplay of forces. The swarm is robust against changes in internal state, and shows flexibility in dealing with external problems. In this brief paper, we focus on the robot swarm that achieves cooperative transportation making use of ethanol as a substantial artificial pheromone. We also propose a swarm system with a newly developed algorithm that enables cooperative transportation of real robots. They will transport food to the nest analogous to the behaviour of a swarm of ants. Emphasis will be placed on the systematic task solution process. As the result, we found when low individual density, pheromone communication is effective. We present a number of experiments demonstrating the robustness and flexibility of the system and also confirming the effectiveness of the algorithm.","subitem_description_type":"Abstract"}]},"item_21_description_60":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"subitem_description":"Journal Article","subitem_description_type":"Other"}]},"item_21_full_name_3":{"attribute_name":"著者別名","attribute_value_mlt":[{"affiliations":[{"affiliationNames":[{"affiliationName":"","lang":"ja"}],"nameIdentifiers":[]}],"familyNames":[{"familyName":"Fujisawa","familyNameLang":"en"},{"familyName":"藤澤","familyNameLang":"ja"},{"familyName":"フジサワ","familyNameLang":"ja-Kana"}],"givenNames":[{"givenName":"Ryusuke","givenNameLang":"en"},{"givenName":"隆介","givenNameLang":"ja"},{"givenName":"リュウスケ","givenNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"28998","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"40550554","nameIdentifierScheme":"e-Rad","nameIdentifierURI":"https://nrid.nii.ac.jp/ja/nrid/1000040550554"},{"nameIdentifier":"25651349200","nameIdentifierScheme":"Scopus著者ID","nameIdentifierURI":"https://www.scopus.com/authid/detail.uri?authorId=25651349200"},{"nameIdentifier":"100001158","nameIdentifierScheme":"九工大研究者情報","nameIdentifierURI":"https://hyokadb02.jimu.kyutech.ac.jp/html/100001158_ja.html"}],"names":[{"name":"Fujisawa, Ryusuke","nameLang":"en"},{"name":"藤澤, 隆介","nameLang":"ja"},{"name":"フジサワ, リュウスケ","nameLang":"ja-Kana"}]},{"nameIdentifiers":[{"nameIdentifier":"31054","nameIdentifierScheme":"WEKO"}],"names":[{"name":"Imamura,  Hikaru","nameLang":"en"}]},{"nameIdentifiers":[{"nameIdentifier":"31055","nameIdentifierScheme":"WEKO"}],"names":[{"name":"Matsuno,  Fumitoshi","nameLang":"en"}]}]},"item_21_link_62":{"attribute_name":"研究者情報","attribute_value_mlt":[{"subitem_link_url":"https://hyokadb02.jimu.kyutech.ac.jp/html/100001158_ja.html"}]},"item_21_publisher_7":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"情報処理学会"}]},"item_21_relation_14":{"attribute_name":"情報源","attribute_value_mlt":[{"subitem_relation_name":[{"subitem_relation_name_text":"http://id.nii.ac.jp/1001/00079185/"}],"subitem_relation_type_id":{"subitem_relation_type_id_text":"http://id.nii.ac.jp/1001/00079185/","subitem_relation_type_select":"URI"}}]},"item_21_relation_66":{"attribute_name":"論文ID（NAID）","attribute_value_mlt":[{"subitem_relation_type":"isIdenticalTo","subitem_relation_type_id":{"subitem_relation_type_id_text":"40019257127","subitem_relation_type_select":"NAID"}}]},"item_21_rights_13":{"attribute_name":"著作権関連情報","attribute_value_mlt":[{"subitem_rights":"Copyright (c) 2011 by the Information Processing Society of Japan. ここに掲載した著作物の利用に関する注意 本著作物の著作権は情報処理学会に帰属します。本著作物は著作権者である情報処理学会の許可のもとに掲載するものです。ご利用に当たっては「著作権法」ならびに「情報処理学会倫理綱領」に従うことをお願いいたします。 / Notice for the use of this material The copyright of this material is retained by the Information Processing Society of Japan (IPSJ). This material is published on this web site with the agreement of the author (s) and the IPSJ. Please be complied with Copyright Law of Japan and the Code of Ethics of the IPSJ if any users wish to reproduce, make derivative work, distribute or make available to the public any part or whole thereof. All Rights Reserved, Copyright (C) Information Processing Society of Japan. Comments are welcome. Mail to address editj＠ipsj.or.jp, please."}]},"item_21_select_59":{"attribute_name":"査読の有無","attribute_value_mlt":[{"subitem_select_item":"yes"}]},"item_21_source_id_10":{"attribute_name":"NCID","attribute_value_mlt":[{"subitem_source_identifier":"AA11464803","subitem_source_identifier_type":"NCID"}]},"item_21_source_id_8":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"1882-7780","subitem_source_identifier_type":"PISSN"}]},"item_21_subject_16":{"attribute_name":"日本十進分類法","attribute_value_mlt":[{"subitem_subject":"501","subitem_subject_scheme":"NDC"}]},"item_21_text_28":{"attribute_name":"論文ID（連携）","attribute_value_mlt":[{"subitem_text_value":"10376247"}]},"item_21_text_36":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"八戸工業大学"},{"subitem_text_value":"株式会社デンソー"},{"subitem_text_value":"京都大学"}]},"item_21_text_63":{"attribute_name":"連携ID","attribute_value_mlt":[{"subitem_text_value":"9062"}]},"item_21_version_type_58":{"attribute_name":"出版タイプ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorAffiliations":[{"affiliationNameIdentifiers":[],"affiliationNames":[{"affiliationName":""}]}],"creatorNames":[{"creatorName":"Fujisawa, Ryusuke","creatorNameLang":"en"},{"creatorName":"藤澤, 隆介","creatorNameLang":"ja"},{"creatorName":"フジサワ, リュウスケ","creatorNameLang":"ja-Kana"}],"familyNames":[{},{},{}],"givenNames":[{},{},{}],"nameIdentifiers":[{},{},{},{}]},{"creatorNames":[{"creatorName":"今村,  光","creatorNameLang":"ja"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"松野,  文俊","creatorNameLang":"ja"}],"nameIdentifiers":[{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2021-08-10"}],"displaytype":"detail","filename":"IPSJ-TOM0404003.pdf","filesize":[{"value":"1.9 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"IPSJ-TOM0404003.pdf","url":"https://kyutech.repo.nii.ac.jp/record/7215/files/IPSJ-TOM0404003.pdf"},"version_id":"65123324-cc9c-46e3-8ce3-70efa92d3ba2"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"journal article","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"フェロモン・コミュニケーションによるロボット群の協調運搬","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"フェロモン・コミュニケーションによるロボット群の協調運搬","subitem_title_language":"ja"}]},"item_type_id":"21","owner":"3","path":["24"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2021-08-10"},"publish_date":"2021-08-10","publish_status":"0","recid":"7215","relation_version_is_last":true,"title":["フェロモン・コミュニケーションによるロボット群の協調運搬"],"weko_creator_id":"3","weko_shared_id":-1},"updated":"2023-10-25T09:12:16.260576+00:00"}