Hiroki Shimora

Simulating inter-agent communication in disaster relief scenarios; an initial implementation of Rescue-MIKE

Communication is a vital part of the teamwork that is required for disaster relief operations. We have implemented a system, called Rescue-MIKE, which simulates the conversations that can be expected between large numbers of relief workers and controllers working in a rescue domain. Our system uses multiple agents (director, continuity, background and monitors agents) to collect information from a simulated disaster scenario. It then produces a dialogue that fits the actions of the agents in the domain. We describe the implementation of our system, and also introduce walkie-talkie protocols that represent an initial formalisation of the conversation possibilities for this type of dialogue. We discuss the likely applications of our system and protocols, which include knowledge elicitation about disaster relief control methods, automated relief support systems, and public education about the dangers of earthquakes.

Integration of sensory data taken by multiple rescue robots using GIS

We propose a framework to collect spatial information acquired by sensor devices mounted on multiple rescue robots to generate an integrated map to help first responders. In order to utilize the multiple robots, matching and adjustment of spatial data is an important function for the geographical information database. We design flexible handling mechanism of coordinate reference systems for the spatial data and formats to represent sensing information. The proposed framework are tested by competitions of RoboCupRescue league, in which our system shows effective integration of information acquired by different kind of sensor devices on robots.

Conceptual Framework to Maintain Multiple and Floating Relationship among Coordinate Reference Systems for Robotics

A new conceptual framework of management of coordinate reference systems (CRS) for robotics is proposed. Management of CRS should be more flexible in robotics than one for traditional GIS (geographical information systems). In general, all CRS used in GIS (geographical information systems) is grounded to a certain global CRS. On the other hand, there are several cases where it is difficult to ground and fix the CRS in robotics area. Therefore, the robot need to have its own CRS, which may not be grounded to another stable CRS. In order to provide a solution to the issue, In the proposal, we propose a new framework of CRS and transformations. we handle a (user-defined) CRS as an atomic concept, which can be defined independently with other CRS. Then relations between two CRS are defined afterword. Therefore, it is possible to have a CRS that has no relation to the global CRS. Moreover, it is also possible to define multiple relation between two CRS. These flexibility enables to bridge GIS and robotic systems for real applications.

Zeng99: RoboCup Simulation Team with Hierarchical Fuzzy Intelligent Control and Cooperative Development

This paper discusses the design of the team Zeng99. The goal of team Zeng99 is to show a performance of Hierarchical Fuzzy Intelligent Control system in the field of multi agent problems. It worked well at RoboCup99 competition, even with little error in an invoking clients. It also allow independent/cooperative development client by client.

Information Sharing and Integration Framework Among Rescue Robots/Information Systems

A framework for information sharing among robots/information systems for disaster mitigation is proposed. Gathering and sharing disaster information about damaged areas is the top-priority mission to support decision making in rescue processes. We are designing a standard protocol (MISP) and implementing a simple database system (DaRuMa) for this purpose. In order to utilize these facilities, we are also designing a standard format of sensed data collected by rescue robots and time representation to denote uncertain/ambiguous time periods, both of which form the essential core of rescue information sharing. We show the flexibilities and openness of the proposed framework and representation by several integration experiments with robotics, information, and communication technologies.

Flexible framework to maintain multiple an floating coordinate systems

Management of coordinate systems for robotics requires more flexible framework than one for GIS (geographical information systems). In general, all coordinate systems used in GIS (geographical information systems) is grounded to the global coordinate systems. On the other hand, there are several cases where it is difficult to ground the coordinate systems in robotics area. Therefore, the robot need to have its own coordinate system, which may not be grounded to another stable coordinate systems. In order to provide a solution to the issue of coordinate systems for robotics, we propose a new framework of coordinate systems and transformations. we handle a (user-defined) coordinate system as an atomic concept, which can be defined independently with other coordinate systems. Then relations between two coordinate systems are defined afterword. Therefore, it is possible to have a coordinate system that has no relation to the global coordinate system. Moreover, it is also possible to define multiple relation between two coordinate systems.

Zeng01 Team Description: Formation Decision Method Using Game Theory

The combined team, Zeng01, have players developed by several subject of investigation. We have analyzed better player combination based on game theory. We look upt he formation property through changing a opposite team strategy on every games. Comparing formation property on every games, we decide own team formation.