Kazuo Sugihara

Distributed algorithms for formation of geometric patterns with many mobile robots

We discuss a method for controlling a group of mobile robots in a distributed manner. The method is distributed in the sense that all robots, or most of the robots in some cases, plan their motion individually based upon the given goal of the group and the observed positions of other robots. We illustrate the method by showing how a large number of robots can form an approximation of a circle, a simple polygon, or a line segment in the plane. We also show how the robots can distribute themselves nearly uniformly within a circle or a convex polygon in the plane. Finally, we show how the robots can be divided into two or more groups. It turns out that in many cases most robots execute an identical, simple algorithm. The performance of the method is demonstrated by simulation.

Distributed motion coordination of multiple mobile robots

A new method for controlling a group of mobile robots is presented. The method is fully distributed in the sense that each robot plans its motion individually on the basis of a given goal of the group and the observed positions of other robots. The method is illustrated by showing how a large number of robots can form an approximation of a circle, a simple polygon, or a line segment in the plane. It is also shown how the robots can distribute themselves nearly uniformly within a circle or a convex polygon in the plane. A method of dividing the robots into two or more groups is presented. It turns out that in many cases most robots execute an identical simple algorithm. The performance of the method is demonstrated by simulation.<<ETX>>

Genetic algorithms for adaptive motion planning of an autonomous mobile robot

This paper proposes genetic algorithms (GAs) for path planning and trajectory planning of an autonomous mobile robot. Our GA-based approach has an advantage of adaptivity such that the GAs work even if an environment is time-varying or unknown. Therefore, it is suitable for both off-line and online motion planning. We first present a GA for path planning in a 2D terrain. Simulation results on the performance and adaptivity of the GA on randomly generated terrains are presented. Then, we discuss extensions of the GA for solving both path planning and trajectory planning simultaneously.

The searchlight scheduling problem

The problem of searching for a mobile robber in a simple polygon by a number of searchlights is considered. A searchlight is a stationary point which emits a single ray that cannot penetrate the boundary of the polygon. The direction of the ray can be changed continuously, and a point is detected by a searchlight at a given time if and only if it is on the ray. A robber is a point that can move continuously with unbounded speed. First, it is shown that the problem of obtaining a search schedule for an instance having at least one searchlight on the polygon boundary can be reduced to that for instances having no searchlight on the polygon boundary. The reduction is achieved by a recursive search strategy called the one-way sweep strategy. Then various sufficient conditions for the existence of a search schedule are presented by using the concept of a searchlight visibility graph. Finally, a simple necessary and sufficient condition for the existence of a search schedule for instances having exactly two sea...

A Meeting Scheduler for Office Automation

Scheduling of meetings is one of the basic functions demanded in office automation, since office workers spend much time on meetings. This paper discusses a schedufkng problem of meetings and presents a meeting scheduler for office automation which provides an automatic mechanism for updating a schedule of meetings.

Optimal algorithms for a pursuit-evasion problem in grids

This paper discusses a problem of searching for and capturing a fugitive by a team of searchers in an

Concurrency control based on distributed cycle detection

N \times N \,\text{grid}\,G_N

On a pursuit-evasion problem related to motion coordination of mobile robots

representing a system of Navenues and Nstreets which a searcher can “see” a fugitive if and only if both are on the same avenue or the same street. A

GA-based On-line Path Planning for SAUVIM

0.5N^2 + O(N)

A rule-based tool for reverse engineering from source code to graphical models

time algorithm is presented for searching