Study on a cooperative active sensing

This study was made as a part of the research project ''Study on the evaluation of applicability of information collection·processing system to autonomous plant''. Previously, the basic techniques for 3-dimensional geometric modeling of working environments and for systemizing of information collection and processing have been developed. Thus, this study aimed to establish the techniques for a decentralized and cooperatively intellectualized system which allows to automatically perform patrol for inspection and maintenance in complicated plants. First, developments of cooperative active sensing for functioning in a multi-robot system and real-time active visual sensing were attempted and then the both were integrated to produce a prototype system for cooperative active sensing. The outcomes of the project in this year were as follows; a mobile platform with expanded functions, acoustic information processing, parallel EusLisp, a simulator for moving robot's behaviors, a visual monitoring system for moving objects, etc. All of these were usable for general purpose. (M.N.)