Yuichiro Toda

Tokyo Metropolitan University, Edo, Tōkyō, Japan

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Publications (18)10.31 Total impact

  • [Show abstract] [Hide abstract]
    ABSTRACT: This paper proposes a method of constituting the formation of a multi-robot system for exploration and monitoring. First, we apply a method of multi-objective behavior coordination for integrating behavior outputs from the fuzzy control for collision avoidance and target tracing. Second, we apply a spring model to calculate the temporary target position of each robot for the formation behavior. Third, we constitute monitoring formation, which is realized by enclosing behavior of multi-robot. Finally, we discuss the effectiveness of the proposed method through several simulation results.
    2013 Second International Conference on Robot, Vision and Signal Processing (RVSP); 12/2013
  • Yuichiro Toda, Naoyuki Kubota
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    ABSTRACT: This paper proposes a localization method using multiresolution maps for the navigation of multiple mobile robots based on formation behaviors. The remote control of multiple mobile robots is one the most important tasks in robotics to realize distributed remote monitoring in unknown and/or dynamic environments. However, it is very difficult for a human operator to control multiple mobile robots separately at the same time. Therefore, autonomous formation behaviors of multiple robots are required to reduce mental and physical loads of the human operator. If each mobile robot can estimate the self-position or relative position in a group, it is easier for multiple mobile robots to realize formation behaviors. First, we propose a method of simultaneous localization and mapping based on a grid approach. Next, we explain how to share the build map among multiple mobile robots, and propose a self-localization method based on multiresolution maps. Furthermore, we explain the formation behaviors of multiple mobile robots. Finally, we show several experimental results, and discuss the effectiveness of the proposed method.
    IEEE Transactions on Industrial Informatics 08/2013; 9(3):1772-1781. DOI:10.1109/TII.2013.2261306 · 8.79 Impact Factor
  • Yuichiro Toda, Naoyuki Kubota
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    ABSTRACT: This paper proposes a method of feature extraction from 3D point clouds for informationally structured space including sensor networks and robot partners for co-existing with people. The informationally structured space realizes the quick update and access of valuable and useful information for both people and robots on real and virtual environments. Our method is based on Hierarchical Growing Neural Gas (HGNG). This method is one of self-organizing neural network based on unsupervised learning First, we propose 3D map building method using Kinect in order to acquire the 3D point clouds. Next, we propose the method of the feature extracting method based on HGNG. Finally, we show experimental results of the proposed method and discuss the effectiveness of the proposed method.
    Neural Networks (IJCNN), The 2013 International Joint Conference on; 01/2013
  • Naoyuki Kubota, Yuichiro Toda
    IEEE Transactions on Systems Man and Cybernetics Part C (Applications and Reviews) 11/2012; 42(6):1142-1151. DOI:10.1109/TSMCC.2012.2213810 · 1.53 Impact Factor
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    ABSTRACT: The localization is one of the most important capabilities for mobile robots. However, other robots can be considered as unknown objects when a mobile robot performs localization, because other robots can enter the sensing range of a mobile robot. Therefore, we propose a method of intelligent self-localization using evolutionary computation for multiple mobile robots based on simultaneous localization and mapping (SLAM). First, we explain the method of SLAM using occupancy grid mapping by a single mobile robot. Next, we propose an intelligent self-localization method using multi-resolution map and evolutionary computation based on relative position of other robots in the sensing range. The experimental results show the effectiveness of the proposed method.
    Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part I; 10/2012
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    ABSTRACT: The paper deals with simultaneous optimization of path planning of mobile robots and flow shop scheduling problem. The goal of the path planning problem is to determine an optimal collision-free path between a start and a target point for a mobile robot in an environment surrounded by obstacles. The objective is to minimize the path length without colliding with an obstacle. On the other hand, shop scheduling problems deal with processing a given set of jobs on a given number of machines. Each operation has an associated machine on which it has to be processed for a given length of time. The problem is to minimize the overall time demand of the whole process. In this paper, we deal with two robots carrying items between the machines. Bacterial memetic algorithm is proposed for solving this combined problem. The algorithm is verified by experimental simulations and compared to classical techniques.
    Artificial Life and Robotics 10/2012; 17(1). DOI:10.1007/s10015-012-0021-9
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    ABSTRACT: The goal of the path planning problem is to determine an optimal collision-free path between a start and a target point for a mobile robot in an environment surrounded by obstacles. This problem belongs to the group of combinatorial optimization problems which are approached by modern optimization techniques such as evolutionary algorithms. In this paper the bacterial memetic algorithm is proposed for path planning of a mobile robot. The objective is to minimize the path length and the number of turns without colliding with an obstacle. The representation used in the paper fits well to the algorithm. Memetic algorithms combine evolutionary algorithms with local search heuristics in order to speed up the evolutionary process. The bacterial memetic algorithm applies the bacterial operators instead of the genetic algorithm’s crossover and mutation operator. One advantage of these operators is that they easily can handle individuals with different length. The method is able to generate a collision-free path for the robot even in complicated search spaces. The proposed algorithm is tested in real environment.
    Memetic Computing 03/2012; 4(1):73-86. DOI:10.1007/s12293-012-0076-0
  • Y. Toda, N. Kubota
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    ABSTRACT: This paper discusses the multi-modal communication for robot partners based on computational intelligence in informationally structured space. First, we explain recognition methods of touch interface, voice recognition, human detection, gesture recognition used in the multi-modal communication. Furthermore, we propose a conversation system to realize the multi-modal communication with a person. Finally, we show several experimental results of the proposed method, and discuss the future direction on this research.
    Consumer Electronics (GCCE), 2012 IEEE 1st Global Conference on; 01/2012
  • Y. Yasuda, N. Kubota, Y. Toda
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    ABSTRACT: This paper proposes a method for constituting the formation of a multi-robot system according to dynamically changing environments. First, we apply a method of multi-objective behavior coordination for integrating behavior outputs from the fuzzy control for collision avoidance and target tracing. Second, we apply a spring model to calculate the temporary target position of each robot for the formation behavior. Third, we discuss multi-robot behaviors based on the concept of coupling. The tight coupling is realized by the spring model while the loose coupling is realized by the individual decision making based on connection and disconnection with other robots. Furthermore, the proposed method is applied to the exploration in unknown environments. Finally, we discuss the effectiveness of the proposed method through several simulation results.
    Fuzzy Systems (FUZZ-IEEE), 2012 IEEE International Conference on; 01/2012
  • Y. Toda, T. Narita, N. Kubota
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    ABSTRACT: This paper proposes a method for 3D modeling of environments used to perform teleoperation of a mobile robot. Recently, the expectation to tele-operated mobile robots has been increasing much in order to perform a monitoring in various scenes. However, there are many critical problems in tele-operated systems. Especially, we must expand visual range from a robot, the usability of human interface, and intention sharing between the robot and operator. First, we discuss information visualization for human-friendly tele-operation. Next, we propose a tele-operating system based on multi-resolution map. Finally, we propose a method of 3D modeling using Microsoft Kinect sensor, and show several experimental results of the proposed method.
    Evolutionary Computation (CEC), 2012 IEEE Congress on; 01/2012
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    ABSTRACT: Recently, multi-robot systems have been discussed to realize a large size of distributed autonomous system. Furthermore, multi-robot systems have been applied to various problems such as autonomous guided vehicles, soccer robots, and search and rescue system by multi-robot. This paper proposes intelligent formation behavior for the multi-robot based on sensor fusion. First, we discuss multi-agent systems and wireless network technologies. Next, we explain the hardware specification of robot and tele-operated system and wireless communication. Finally, we show experimental results, and discuss the availability of intelligent formation behavior for multi-robot.
    Fuzzy Systems (FUZZ), 2011 IEEE International Conference on; 07/2011
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    ABSTRACT: This paper discusses measurement methods of human behaviors based on sensor network and human interaction of rehabilitation using robot partners. First, we explain robot partners and sensor networks for rehabilitation. Next, we apply a steady-state genetic algorithm to extract human motions from 3D distance image. Finally, we discuss the effectiveness of the proposed methods through several experimental results.
    Fuzzy Systems (FUZZ), 2011 IEEE International Conference on; 07/2011
  • N. Kubota, Y. Toda, B.H. Lee
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    ABSTRACT: Recently, the expectation to tele-operated mobile robots has been increasing much in order to perform the monitoring in various scenes. However, there are many critical problems in tele-operated system. Especially, we must improve the restriction of visual range, the usability of human interface, and intention sharing with the operator. In this paper, we discuss the monitoring system of a tele-operated robot and human interface based on visual information and distance information from the tele-operated mobile robots. Next, we propose a method of a navigation system based on multi-featured visualization. Finally, we propose a tele-operated system using iPhone, and show several experimental results of the proposed method.
    Robotic Intelligence In Informationally Structured Space (RiiSS), 2011 IEEE Workshop on; 05/2011
  • Y. Toda, N. Kubota, N. Baba
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    ABSTRACT: Simultaneous localization and mapping (SLAM) is one of important topics in robotics. However, we must consider various intelligent behaviors in SLAM, e.g., the exploration of unknown areas and effective path planning of mobile robots. To realize these intelligent behaviors, we use a multi-resolution map. The multi-resolution map can be updated by the operators suitable to a specific aim. The first aim is to represent the occupied or empty cells in the built map. The next aim is to represent the unknown areas in the built map. These are used for the intelligent planning. The intelligent planning is composed of preplanning, online planning, and adaptive planning. These planning methods are used according to the state of a built map. The experimental results show the effectiveness of the proposed method.
    Robotic Intelligence In Informationally Structured Space (RiiSS), 2011 IEEE Workshop on; 05/2011
  • Janos Botzheim, Yuichiro Toda, Naoyuki Kubota
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    ABSTRACT: The goal of the path planning problem is to determine an optimal collision-free path between a start and a target point for a mobile robot in an environment surrounded by obstacles. This problem belongs to the group of hard optimization problems which can be approached by modern optimization techniques such as evolutionary algorithms. In this paper the bacterial memetic algorithm is proposed for path planning of a mobile robot. The representation used in the paper fits well to the algorithm. Memetic algorithms combine evolutionary algorithms with local search heuristics in order to speed up the evolutionary process. The bacterial memetic algorithm applies the bacterial operators instead of the genetic algorithm's crossover and mutation operator. One advantage of these operators is that they easily can handle individuals with different length. The proposed algorithm is tested in real environment.
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    ABSTRACT: Recently, tele-operation using multi-robot system has been discussed from various viewpoints of shared autonomy, intelligent control, formation behaviors, and information visualization. Furthermore, tele-operation systems have been applied to the remote monitoring of dangerous areas for people such as deep seas, nuclear power plants, and disaster-stricken areas. In this paper, we focus on the structured intelligence based on interconnected intelligent functions of map building, localization of mobile robots, D reconstruction and visualization, and human-friendly interface for tele-operation.
  • Y. Toda, N. Kubota
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    ABSTRACT: Path planning is one of important topics in robotics. When the mobile robot is building the map, it is better to use the higher resolution map in order to build a precise map. However, after the map building, if the resolution of the built map is very high, it takes much computational memory and time to perform the path planning. To realize the effective path planning, we use a multi-resolution map. The multi-resolution map can be updated by the operators suitable to a specific aim. The first aim is to represent the occupied or empty cells in the built map. The next aim is to represent the unknown areas in the built map. These are used for the path planning. The path planning is based on potential field method. The path planning uses steady-state genetic algorithm in order to set up the sub-target points. The experimental results show the effectiveness of the proposed method.
    SICE Annual Conference (SICE), 2011 Proceedings of; 01/2011
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    ABSTRACT: This paper discusses the role of evolutionary computation in visual perception for partner robots. The search of evolutionary computation has many analogies with human visual search. First of all, we discuss the analogies between the evolutionary search and human visual search. Next, we propose the concept of evolutionary robot vision, and multiple human face detection method based on local genetic algorithm clustering. Finally, we show experimental results of the multiple human face detection using mobile platform iPhone platform to discuss the effectiveness of our proposed method.