{"title":"Human dense avoidance based on a coverage control through robots","authors":"Shu Morita, Yuki Okura, Chiaki Kojima","doi":"10.1002/ecj.12383","DOIUrl":null,"url":null,"abstract":"<p>In this paper, we propose an efficient method for human dense avoidance based on a coverage control. Our motivation is to avoid crowding in public facilities such as stations and government offices, and human dense in the current situation of COVID-19 from system and control theory. In this paper, humans and robots are modeled as heterogeneous and homogeneous agents, respectively, which make decisions based on their local information. We suppose a dense situation caused by the rendezvous among humans due to their own inherent dynamics. As a main result, we propose a coverage control for a distributed movement of multiple humans. We also characterize the stationary point analytically in terms of the gains that describe a strength of the interconnection of the agents, and the centers of the Voronoi regions related to the agents. Moreover, we verify the meaning of the characterization from an engineering viewpoint of the dense avoidance. Finally, we show the efficiency of the method based on a numerical simulation.</p>","PeriodicalId":50539,"journal":{"name":"Electronics and Communications in Japan","volume":"105 4","pages":""},"PeriodicalIF":0.5000,"publicationDate":"2022-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Electronics and Communications in Japan","FirstCategoryId":"5","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1002/ecj.12383","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"ENGINEERING, ELECTRICAL & ELECTRONIC","Score":null,"Total":0}
引用次数: 0
Abstract
In this paper, we propose an efficient method for human dense avoidance based on a coverage control. Our motivation is to avoid crowding in public facilities such as stations and government offices, and human dense in the current situation of COVID-19 from system and control theory. In this paper, humans and robots are modeled as heterogeneous and homogeneous agents, respectively, which make decisions based on their local information. We suppose a dense situation caused by the rendezvous among humans due to their own inherent dynamics. As a main result, we propose a coverage control for a distributed movement of multiple humans. We also characterize the stationary point analytically in terms of the gains that describe a strength of the interconnection of the agents, and the centers of the Voronoi regions related to the agents. Moreover, we verify the meaning of the characterization from an engineering viewpoint of the dense avoidance. Finally, we show the efficiency of the method based on a numerical simulation.
期刊介绍：
Electronics and Communications in Japan (ECJ) publishes papers translated from the Transactions of the Institute of Electrical Engineers of Japan 12 times per year as an official journal of the Institute of Electrical Engineers of Japan (IEEJ). ECJ aims to provide world-class researches in highly diverse and sophisticated areas of Electrical and Electronic Engineering as well as in related disciplines with emphasis on electronic circuits, controls and communications. ECJ focuses on the following fields:
- Electronic theory and circuits,
- Control theory,
- Communications,
- Cryptography,
- Biomedical fields,
- Surveillance,
- Robotics,
- Sensors and actuators,
- Micromachines,
- Image analysis and signal analysis,
- New materials.
For works related to the science, technology, and applications of electric power, please refer to the sister journal Electrical Engineering in Japan (EEJ).
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