Yusuke Tsunoda

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• Doctor of Engineering
• Assistant Professor at University of Hyogo

This study investigates group navigation with the aid of strong interaction between two kinds of agents: A shepherd drives a sheep group with a large population to a given goal position. Even though numerous studies have been performed on the realization of shepherd-like navigation, they are based on the condition that all sheep positions are given...

This paper demonstrates the sheepdog-type robot navigation based on the linearized model of sheep flock and the sheepdogs. What we call the sheepdog system is the wonderful group phenomenon in which a small number of sheepdogs collaborates to manipulate up to one thousand sheep flock indirectly by using their own maneuverability. In order to grasp...

This study considers a simple robot swarm navigation system based on shepherding in an environment with obstacles. Shepherding is a system in which a small number of control agents (shepherds and sheepdogs) indirectly guide several robots (sheep) by driving them from behind. Previous studies have predominantly focused on verifying proposed controll...

In recent years, research has been conducted on swarm robot systems in which multiple autonomous mobile robots cooperate to perform tasks. Swarm robot systems are expected to perform high functionality as a group by cooperating with each other, in spite of the limited capabilities of the individual robots. This paper explores a method of simplifyin...

This paper is concerned with group navigationwhich utilizes strong interaction between two types of mobileagents, what we callsheepdogagent(dogagent)andsheepagent.Natural sheepdog system exhibits that one or a small numberof sheepdog guides large population of sheep, up to a thousand,to a pre-determined goal position thanks to the characteristicsof...

Navigating unknown three-dimensional (3D) rugged environments is challenging for multi-robot systems. Traditional discrete systems struggle with rough terrain due to limited individual mobility, while modular systems--where rigid, controllable constraints link robot units--improve traversal but suffer from high control complexity and reduced flexib...

d-FlexCraw ”is a novel robot featuring a dual-body configuration with highly flexible tracks, allowing versatile three-dimensional curvature. The tracks adapt to terrain via a vertebral body with passive joints and multiple degrees of freedom, manipulated by wires. However, maintaining posture proves challenging due to external forces. This paper p...

In recent years, the frequency of natural disasters in Japan has increased, creating a need for construction robots to work in disaster areas. In the case of landslides, three important tasks are excavating, loading and transporting earth and sand. Traditionally, these operations have required several units of several types of heavy construction ma...

We propose a novel odometry method utilizing posture information from Flexible Mono-tread mobile-Track(FMT). This method presupposes the path-following capability of subsequent joints to the leading joint expected of FMT. Therefore, we investigate the mobility characteristics of FMT and evaluate the feasibility of the proposed method.

Recently, the navigation of mobile robots in unknown environments has become a particularly significant research topic. Previous studies have primarily employed real-time environmental mapping using cameras and LiDAR, along with self-localization and path generation based on those maps. Additionally, there is research on Sim-to-Real transfer, where...

“Multi-agent systems (MAS)” have been extensively studied across various fields, including robotics, economics, biology, and computer science. A distinctive feature of these systems is the ability of multiple agents, each with different characteristics, to perform system-wide tasks through local bottom-up interactions. Furthermore, design and contr...

In areas inaccessible to humans, such as the lunar surface and landslide sites, there is a need for multiple autonomous mobile robot systems that can replace human workers. Robots are required to remove water and sediment from landslide sites such as river channel blockages as soon as possible. Conventionally, several construction machines are depl...

Cooperative transportation of objects by a group of small mobile robots is expected to work in disaster sites. In this study, we aim to transport fragile objects including humans which may move during the transport, with as little burden as possible. We propose the adoption of a flexible tri-axis tactile sensor with thickness at the top of the robo...

Humans have whole-body viscoelastic connections called the Anatomy Trains (ATs), which include multiple muscles and connective tissues. ATs are expected to realize coordinated motion in passive dynamic walkers with a large number of joints. However, the details of how the coordinated motion is realized are not fully understood. In this paper, we pr...

In this study, we propose a centipede-like swarm robotic system capable of utilizing “unfavorable” environmental effects such as robot–environment collisions, robot–robot collisions, signal noise, and signal interval, to aid navigation and exploration in 2D unknown environments. Traditional swarm robots demand complex systems to counteract “unfavor...

The aim of this study is to develop an effective anchor for soft ground at disaster sites. Inspired by the roots of plants, we have developed the “ Root-Anchor”, which is anchored by extending several thin wires into the soil. In addition, in order to clarify the design method of the anchor, we conducted experimental verification of the effects of...

Shepherding problem is to guide a large number of moving objects (sheep flock) with a small number of controllers (shepherd, sheepdog). Exploring the shepherd guidance model is useful for controlling multiple robot and guiding real swarm of organisms. In this paper, to demonstrate sheepdog system in the real world, we proposed a control system for...

We propose a robot that is initially lightweight and soft but can develop new functions by taking in environmental materials and using them as a structural material. As an example of such a robot, we develop“TsuchiKurai”; a robot that acquires new functions by increasing its stiffness and mass by taking in the surrounding soil and using it as its s...

There is a growing demand for mobile robots that can operate in inaccessible environments such as disaster sites. Such a robot that can move autonomously over unknown rough terrain needs to be able to acquire both its own position and the surrounding environment, but current robots rely mostly on external sensors. Since external sensors are suscept...

Swarm robots have attracted great attention due to characteristics such as high robustness, adaptability, etc. Among them, the reconfigurable modular robot is a type of swarm robot formed by combining repeating robotic modules to execute functions that neither scattered swarm robots nor individual robots can. However, these modules might lose some...

In the past decades, robot navigation in an unknown environment has attracted extensive interest due to its tremendous application potential. However, most existing schemes rely on complex sensing systems and control systems to perceive and process the geometric and appearance information of the surrounding environment to avoid the collision, while...

This paper constructs a control system in which one highly mobile agent navigates autonomous multiple agents escaping from the agent according to nonlinear interaction. This study is motivated by the sheepdog system: a flock of thousands of sheep are controlled by only a few sheepdogs. Inspired by the sheepdog system, we have proposed a control law...

This study focuses on autonomous robot navigation. In general, robot controllers are designed based on an accurate model of the environment. In contrast to this, we adopted an approach where information is written into the environment and used to operate the robot controller. This method can reduce the computational complexity and energy cost and h...

Cooperative swarming behavior of multiple robots is advantageous for various disaster response activities, such as search and rescue. This study proposes an idea of communication of information between swarm robots, especially for estimating the orientation and direction of each robot, to realize decentralized group behavior. Unlike the conventiona...

The propose of this paper is to construct a new navigation system for swarm robots that does not require complicated calculations. In this paper, we propose the navigation scheme in which group robots are navigated only by collisions from a small number of heterogeneous robots. Furthermore, we assume that the navigator robot guides base on a planer...

This paper proposes a swarm robot reflexively responding to contact with others. In order to design reflexive escape behavior against contact as simple as possible, we developed the robot without a microcomputer. The developed robot is composed only of two motors and four microswitches. We verify the proposed robot through robot demonstration.

This paper demonstrates “no-microcomputer-based” sheepdog-type robot navigation utilizing magnetic force. The sheepdog system is inspired by a herding event, in which a small number of sheepdogs controlled by a sheep herder manipulate up to one thousand sheep flock indirectly. This system is considered as interesting control system, because the she...

This paper demonstrates "no-microcomputer-based" sheepdog-type robot navigation utilizing magnetic force. The sheepdog system is inspired by a herding event, in which a small number of sheepdogs controlled by a sheep herder manipulate up to one thousand sheep flock indirectly. This system is considered as interesting control system, because the she...

In this paper, we deal with the control problem to manipulate autonomous multiple agents (a flock of sheep) escaping from an agent (a sheepdog) according to nonlinear interaction. This work was motivated by sheepdog system: a flock of several thousands of sheep are controlled by only a few sheepdogs in a farm. From the perspective of control proble...

This paper invastigates a group navigation strategy of multi-agent system using two different kinds of agentsinspired by sheepdog shepherding. In a farm, a sheepdog navigates a flock of sheep, which are trained to be escapedfrom the sheepdog, to a given goal position. From the point of view of control system, this system fascinates roboticsresearch...

This paper investigates group navigation method of multi-agent system with the aid of strong interaction betweentwo different kinds of agents: a sheepdog (shepherd) and sheep. This navigation system is motivated by sheepdog system, inwhich a sheep is trained to be escaped from the shepherd and the shepherd drives all sheep group to a given goal pos...

In this paper, we deal with the control problem to manipulate autonomous multiple agents (a flock of sheep) escaping from an agent (a sheepdog) according to nonlinear interaction. This work was motivated by so-called sheepdog system inspired by sheepdog shepherding: a flock of several thousands of sheep are controlled by only a few sheepdogs in the...

This paper proposes novel robot navigation methods that utilize strong interaction between a designed field and a robot controller. In recent years, several studies have demonstrated the importance of interactions between different subject types (e.g., human-robot interaction, robot-environment interaction) instead of just that between a robot cont...

In this paper, we propose a brand-new navigation strategy for artificial creatures, such as autonomous mobile robots. The novelty of our proposed method is in group decision-making, based on majority consensus and dynamic switching of individual goal-preferences. First, we introduce a group model with three subpopulations: one subgroup is designed...

This paper proposes a new kind of navigation method for mobile robots. Instead of deigning a complicated control structure for every robot, we dare to make a potential field, which manipulates the robot movement. We adopt sound in order to create the potential field. On this method, a robot proceeds based on the strength of the field. We design a c...

This paper proposes a new kind of navigation method for mobile robots. Instead of designing a complicated control structure for every robot, we dare to make a potential field, which manipulates the robot movement. We adopt sound in order to create the potential field. On this method, a robot selects an action from proceeding and turning based on th...

This paper is concerned with a control methodology for group agents: what controller would be designed to an individual in order to perform collective motions. We propose a method of using a potential field which is made by sound (Sound field) intentionally in the space. On this method, each robot selects its own movement based on the strength or g...