{"created":"2023-06-20T15:14:55.566032+00:00","id":12282,"links":{},"metadata":{"_buckets":{"deposit":"f4ca7faf-9c37-455a-ae53-d08f3450f832"},"_deposit":{"created_by":3,"id":"12282","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"12282"},"status":"published"},"_oai":{"id":"oai:ynu.repo.nii.ac.jp:00012282","sets":["495:496"]},"author_link":["43686","37219","40904"],"control_number":"12282","item_3_alternative_title_23":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"Hierarchical and Distributed Patrol Strategy for Robotic Swarms withContinuous Connectivity Including Base Station","subitem_alternative_title_language":"en"}]},"item_3_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2023-01-22","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"88","bibliographicPageStart":"83","bibliographic_titles":[{"bibliographic_title":"第 35 回自律分散システム・シンポジウム予稿集"}]}]},"item_3_description_5":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"This paper proposes a hierarchical and distributed strategy for patrolling missions by robotic swarms, including a fixed base station. One of the essential requirements for autonomous robotic swarms is predictability from human operators. As a clue to satisfy this requirement in patrolling missions, the strategy employs a hierarchized algorithm to maintain continuous connectivity to the base station by (i)global patrol and (ii)nearby patrol. Each robot chooses the location to patrol by one of the two algorithms, according to the robot's role. The paper also introduces a performance metric for the base station's situational awareness, which may indicate the swarm behaviors' predictability. The simulation study demonstrated the successful patrol behavior of the swarms with continuous connectivity to the base station. Future studies will compare the proposed strategy to existing patrol strategies in terms of both metrics: patrol performance and situational awareness.","subitem_description_type":"Abstract"}]},"item_3_publisher_37":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"公益社団法人計測自動制御学会"}]},"item_3_rights_16":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"本論文の著作権は公益社団法人計測自動制御学会に帰属します。"}]},"item_3_text_4":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"横浜国立大学"},{"subitem_text_value":"横浜国立大学"},{"subitem_text_value":"横浜国立大学"}]},"item_3_version_type_20":{"attribute_name":"著者版フラグ","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":[{"creatorNames":[{"creatorName":"小林, 一穂","creatorNameLang":"ja"}],"nameIdentifiers":[{"nameIdentifier":"43686","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"樋口, 丈浩","creatorNameLang":"ja"}],"nameIdentifiers":[{"nameIdentifier":"37219","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"20403652","nameIdentifierScheme":"e-Rad","nameIdentifierURI":"https://kaken.nii.ac.jp/ja/search/?qm=20403652"}]},{"creatorNames":[{"creatorName":"上野, 誠也","creatorNameLang":"ja"}],"nameIdentifiers":[{"nameIdentifier":"40904","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"60203460","nameIdentifierScheme":"e-Rad","nameIdentifierURI":"https://kaken.nii.ac.jp/ja/search/?qm=60203460"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2023-01-27"}],"displaytype":"detail","filename":"1_1C2-2.pdf","filesize":[{"value":"797.0 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"1_1C2-2.pdf","url":"https://ynu.repo.nii.ac.jp/record/12282/files/1_1C2-2.pdf"},"version_id":"1a39d22a-ac11-4aa4-9cbe-344acf64559f"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Swarm Robotics, Patrolling, Multi-Robot System, Hierarchical Control, Situational Awareness","subitem_subject_scheme":"Other"}]},"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":"conference paper","resourceuri":"http://purl.org/coar/resource_type/c_5794"}]},"item_title":"基地局との接続を維持する群ロボットの分散・階層型巡回監視アルゴリズム","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"基地局との接続を維持する群ロボットの分散・階層型巡回監視アルゴリズム","subitem_title_language":"ja"}]},"item_type_id":"3","owner":"3","path":["496"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2023-01-27"},"publish_date":"2023-01-27","publish_status":"0","recid":"12282","relation_version_is_last":true,"title":["基地局との接続を維持する群ロボットの分散・階層型巡回監視アルゴリズム"],"weko_creator_id":"3","weko_shared_id":-1},"updated":"2024-01-19T02:56:07.120917+00:00"}