In this paper, we propose an off-line planning algorithm for cooperative tasks of multiple mobile robots. Sweeping means a motion that a robot covers a 2-dimensional area by its effecter. Sweeping of a whole work area is fundamental and essential task of mobile robots. For efficient cooperation, setting appropriate burden onto each robot is very important because interference of robots and overlaps of their effecters make efficiency low. The cost of sweeping depends on both sweeping ability of a robot and a shape of a work area to be swept. Evaluation and distribution of the cost are most important issues. In the proposed algorithm, the cost is evaluated by means of length on which robot should move. We introduce both edges of the configuration space and Voronoi diagram so as to compute paths in the whole area. We generate the a tour for traversing all the paths by applying the algorithm of the Chinese Postman Problem. According to the cost evaluation, appropriate paths of the tour are assigned to each robot. The efficiency of the proposed algorithm is verified by simulations and an experiment.

BackgroundIn animal groups such as herds, schools, and flocks, a certain distance is maintained between adjacent individuals, allowing them to move as a cohesive unit. Proximate causations of the cohesive and coordinated movement under dynamic conditions, however, have been poorly understood.Methodology/Principal FindingsWe established a novel and simple behavioral assay using pairs of small fish (medaka and dwarf pufferfish) by eliciting a simultaneous optomotor response (OMR). We demonstrated that two homospecific fish began to move cohesively and maintained a distance of 2 to 4 cm between them when an OMR was elicited simultaneously in the fish. The coordinated and cohesive movement was not exhibited under a static condition. During the cohesive movement, the relative position of the two fish was not stable. Furthermore, adult medaka exhibited the cohesive movement but larvae did not, despite the fact that an OMR could be elicited in larvae, indicating that this ability to coordinate movement develops during maturation. The cohesive movement was detected in homospecific pairs irrespective of body-color, sex, or albino mutation, but was not detected between heterospecific pairs, suggesting that coordinated movement is based on a conspecific interaction.Conclusions/SignificanceOur findings demonstrate that coordinated behavior between a pair of animals was elicited by a simultaneous OMR in two small fish. This is the first report to demonstrate induction of a schooling-like movement in a pair of fish by an OMR and to investigate the effect of age, sex, body color, and species on coordination between animals under a dynamic condition.

In this study, we design and verify an intake system using the wake of a pocket-sized quadcopter for the chemical plume tracing (CPT) problem. Solving CPT represents an important technique in the field of engineering because it can be used to perform rescue operations at the time of a disaster and to identify sources of harmful substances. An appropriate intake of air when sensing odors plays an important role in performing CPT. Hence, we used the air flow generated by a quadcopter itself to intake chemical particles into two alcohol sensors. By experimental evaluation, we verified that the quadcopter wake intake method has good directivity and can be used to realize CPT. Concretely, even at various odor source heights, the quadcopter had a three-dimensional CPT success rate of at least 70%. These results imply that, although a further development of three-dimensional CPT is necessary in order to conduct it in unknown and cluttered environments, the intake method proposed in this paper enables a pocket-sized quadcopter to perform three-dimensional CPT.

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In this study, we developed a novel unfixed-type experimental system that we call a '3-DOF servosphere.' This system comprises one sphere and three omniwheels that support the sphere. The measurement method is very simple. An experimental animal is placed on top of the sphere. The position and heading angle of the animal are observed by using a high-speed camera installed above the sphere. Because the system can rotate the sphere with three degrees of freedom (DOFs) independently, the position and heading angle at the origin can be maintained without fixing the body. This system can be used to measure an animal's natural behavior while simultaneously providing it with precise stimuli. Moreover, electrodes can be inserted at specific sites to measure biosignals with locomotion. Therefore, this system can simultaneously measure the stimulus input-internal state-locomotion output of an animal. In this study, we focused on the chemical plume tracing (CPT) behavior of the Bombyx mori male silkworm moth in order to identify its CPT algorithm for mounting on a robot. In an experiment, we simultaneously measured the stimulus input, flight muscle electromyogram (EMG), and CPT behavior by using the 3-DOF servosphere to verify the system. We elucidated the relationship between the CPT behavior and flight muscle EMG.