[1] 内 閣 府:“第 5 期 科 学 技 術 基 本 計 画,” [オ ン ラ イ ン], Avail- able:https://www8.cao.go.jp/cstp/kihonkeikaku/5honbun.pdf, [ア ク セ ス 日: 23/11/2021]
[2] 内閣府:“第6 期イノベーション・科学技術基本計画,” [オンライン], Avail- able:https://www8.cao.go.jp/cstp/kihonkeikaku/6honbun.pdf, [ア ク セ ス 日: 23/11/2021]
[3] 防衛装備庁:“将来無人装備に関する研究開発ビジョン,” [オンライン], Avail- able:https://www.mod.go.jp/atla/soubiseisaku/vision/outline.pdf, [アクセス日: 23/11/2021]
[4] 内閣府:“デジタル・防災技術ワーキンググループ (未来構想チーム) 提言,” [オンライン], Available:http://www.bousai.go.jp/kaigirep/teigen/pdf/teigen 03.pdf, [アクセス日: 23/11/2021]
[5] 田所 諭:“防災ロボットについて我が国が取り組むべき中長期的課題,” 日本ロボット学会誌, Vol. 32, No. 2, pp. 154-161 (2014)
[6] 東 俊一, 永原 正章, 石井 秀明, 林 直樹, 桜間 一徳, 畑中 健志:“マルチエージェントシステムの制御,” コロナ社 (2015)
[7] C. Ju and H. I. Son:“Multiple UAV Systems for Agricultural Applications: Control, Implementation, and Evaluation,” Electronics, Vol. 7, No. 9 (2018)
[8] U.S. Department of Defense DARPA:“Teams Demonstrate Swarm Tactics in Fourth Major OFFSET Field Experiment,” [オンライン], Available:https://www.darpa.mil/news-events/2020-09-18. [アクセス日:23/11/2021]
[9] S. Hauert, L. Winkler, J. Zufferey and D. Floreano:“Ant-Based Swarming with Positionless Micro Air Vehicles for Communication Relay,” Swarm Intelligence, Vol. 2, pp. 167-188 (2008)
[10] M. Khayyat and A. Awasthi:“An Intelligent Multi-Agent Based Model for Collab- orative Logistics Systems,” Transportation Research Procedia, Vol. 12, pp. 325-338 (2016)
[11] G. Wang, G. Cao, T. L. Porta and W. Zhang:“Sensor Relocation in Mobile Sensor Networks,” Proceedings of IEEE INFOCOM 2005, Vol. 4, pp. 2302-2312 (2005)
[12] C. Zhu, L. Shu, T. Hara, L. Wang, S. Nishio and L. T. Yang:“A Survey on Com- munication and Data Management Issues in Mobile Sensor Networks,” Wireless Communications and Mobile Computing, Vol. 14, pp. 19-36 (2014)
[13] S. Chung, A. Paranjape, P. Dames, S. Shen and V. Kumar:“A Survey on Aerial Swarm Robotics,” IEEE Transactions on Robotics, Vol. 34, No. 4, pp. 837-855 (2018)
[14] G. Loianno and V. Kumar:“Cooperative Transportation using Small Quadrotors using Monocular Vision and Inertial Sensing,” IEEE Robotics and Automation Let- ters, Vol. 3, No. 2, pp. 680-687 (2018)
[15] A. C. Trujillo, J. P. Navarro, S. B. Mehdi and A. K. McQuarry:“Using Natural Language to Enable Mission Managers to Control Multiple Heterogeneous UAVs,” Advances in Human Factors in Robots and Unmanned Systems, pp. 267-280 (2017)
[16] L. Jin, S. Li, H. M. La, X. Zhang and B. Hu:“Dynamic Task Allocation in Multi- Robot Coordination for Moving Target Tracking: A Distributed Approach,” Auto- matica, Vol. 100, pp. 75-81 (2019)
[17] S Chen, H Pei, Q Lai and H. Yan:“Multitarget Tracking Control for Coupled Hetero- geneous Inertial Agents Systems Based on Flocking Behavior,” IEEE Transactions on Systems, Man, and Cybernetics, Vol. 49, No. 12, pp. 2605-2611 (2018)
[18] L. Zaouche, E. Natalizio and A. Bouabdallah:“Efficient Target Tracking and Filming with a Flying Ad Hoc Network,” 1st International Workshop on Experiences with the Design and Implementation of Smart Objects, pp. 49-54 (2015)
[19] M. Saska, V. Von´asek, J. Chudoba, J. Thomas, G. Loianno and V. Kumar:“Swarm Distribution and Deployment for Cooperative Surveillance by Micro-Aerial Vehi- cles,” Journal of Intelligent and Robotic Systems, Vol. 84, No. 1-4, pp. 469-492 (2016)
[20] B. Wang, S. Li, G. Battistelli, L. Chisci and W. Yi:“Principled Information Fusion for Multi-View Multi-Agent Surveillance Systems,” arXiv. 2105.10935 (2021)
[21] J. Keller, D. Thakur, M. Likhachev, J. Gallier and V. Kumar:“Coordinated Path Planning for Fixed-Wing UAS Conducting Persistent Surveillance Missions,” IEEE Transactions on Automation Science and Engineering, Vol. 14, No. 1, pp. 17-24 (2017)
[22] H. Qin, Z. Meng, W. Meng, X. Chen, H. Sun, F. Lin and M. H. Ang:“Autonomous Exploration and Mapping System using Heterogeneous UAVs and UGVs in GPS- Denied Environments,” IEEE Transactions on Vehicular Technology, Vol. 68, No. 2,pp. 1339-1350 (2019)
[23] A. Dorri, S. S. Kanhere and R. Jurdak:“Multi-Agent Systems: A Survey,” IEEE Access, Vol. 6, pp. 28573-28593 (2018)
[24] L. Ma, H. Min, S. Wang, Y. Liu and S. Liao:“An Overview of Research in Distributed Attitude Coordination Control,” IEEE/CAA Journal of Automatica Sinica, Vol. 2, No. 2, pp. 121-133 (2015)
[25] K. S. Hwang, W. C. Jiang and Y. J. Chen:“Model Learning and Knowledge Sharing for a Multiagent System with Dyna-Q learning,” IEEE Transactions on Cybernetics, Vol. 45, No. 5, pp. 978-990 (2015)
[26] X. Liu, X. Gao and J. Han:“Robust Unknown Input Observer Based Fault Detection for High-Order Multi-Agent Systems with Disturbances,” ISA Transactions, Vol. 61,pp. 15-28 (2016)
[27] C. Banks, S. Wilson, S. Coogan and M. Egerstedt:“Multi-Agent Task Allocation using Cross-Entropy Temporal Logic Optimization,” 2020 IEEE International Con- ference on Robotics and Automation (2020)
[28] A. Sinha, R. Kumar, R. Kaur and A. P. Bhondekar:“Consensus-Based Odor Source Localization by Multiagent Systems,” IEEE Transactions on Cybernetics, Vol. 49, No. 12, pp. 4450-4459 (2018)
[29] M. Baldoni, C. Baroglio and R. Micalizio:“Fragility and Robustness in Multiagent Systems,” Engineering Multi-Agent Systems 2020, pp. 61-77 (2020)
[30] R. C. Cavalcante, I. I. Bittencourt, A. P. da Silva, M. Silva, E. Costa and R. Santos: “A Survey of Security in Multi-Agent Systems,” Expert Systems with Applications, Vol. 39, No. 5, pp. 4835-4846 (2012)
[31] L. Ma, Z. Wang, Q. L. Han and Y. Liu:“Consensus Control of Stochastic Multi- Agent Systems: A Survey,” Science China Information Sciences, Vol. 60 (2017)
[32] B. Liu, H. Su, R. Li, D. Sun and W. Hu:“Switching Controllability of Discrete-Time Multi-Agent Systems with Multiple Leaders and Time-delays,” Applied Mathematics and Computation, Vol. 228, pp. 571-588 (2014)
[33] C. Chen, K. Xie, F. L. Lewis, S. Xie and R. Fierro:“Adaptive Synchronization of Multi-Agent Systems with Resilience to Communication Link Faults,” Automatica, Vol. 111 (2020)
[34] J. A. Mora, E. Montijano, M. Schwager and D. Rus:“Distributed Multi-Robot Formation Control among Obstacles: A Geometric and Optimization Approach with Consensus,” 2016 IEEE International Conference on Robotics and Automa- tion, (2016)
[35] P. Zhang and M. de Queiroz:“3D Multi-Agent Formation Control with Rigid Body Maneuvers,” Asian Journal of Control, Vol. 21, No. 3, pp. 1088-1099 (2019)
[36] J. Tard´os, R. Argues, C. Sagu¨´es and C. Rubio:“Simultaneous Deployment and Tracking Multi-Robot Strategies with Connectivity Maintenance,” Sensors, Vol. 18, No. 3 (2018)
[37] J. Banfi, A. Quattrini, I. Rekleitis, F. Amigoni and N. Basilico:“Strategies for Co- ordinated Multirobot Exploration with Recurrent Connectivity Constraints,” Au- tonomous Robots, Vol. 42, pp. 875-894 (2018)
[38] T. Anderson, C. Y. Chang and S. Mart´ınez:“Maximizing Algebraic Connectivity of Constrained Graphs in Adversarial Environments,” 2018 European Control Con- ference, pp. 125-130 (2018)
[39] M. Rubenstein, A. Cornejo and R. Nagpal:“Programmable Self-Assembly in a Thousand-Robot Swarm,” Science, Vol. 345, No. 6198, pp. 795-799 (2014)
[40] T. Nestmeyer, P. R. Giordano, H. H. Bu¨lthoff and A. Franchi:“Decentralized Simul- taneous Multi-Target Exploration using a Connected Network of Multiple Robots,” Autonomous Robots, Vol. 41, No. 4, pp. 989-1011 (2017)
[41] P. Robuffo Giordano, A. Franchi, C. Secchi and H. H. Bu¨lthoff:“A Passivity- Based Decentralized Strategy for Generalized Connectivity Maintenance,” Journal of Robotics Research, Vol. 32, No. 3 (2013)
[42] Y. Kim and M. Mesbahi:“On Maximizing the Second Smallest Eigenvalue of a State-Depend Graph Laplacian,” IEEE Transactions on Automatic Control, Vol. 51, No. 1, pp. 116-120 (2006)
[43] R. Olfati-Saber:“Flocking for Multi-Agent Dynamic Systems: Algorithms and The- ory,” IEEE Transactions on Automatic Control, Vol. 51, No. 3, pp. 401-420 (2006)
[44] J. Derenick, J. Spletzer and A. Hsieh:“An Optimal Approach to Collaborative Target Tracking with Performance Guarantees,” Journal of Intelligent and Robotic Systems, Vol. 56, pp. 47-67 (2011)
[45] P. R. Giordano, A. Franchi, C. Secchi and H. H. Bu¨lthoff:“A Passivity-Based Decen- tralized Strategy for Generalized Connectivity Maintenance,” International Journal of Robotics Research, Vol. 32, No. 3, pp. 299-323 (2013)
[46] L. Sabattini, C. Secchi, and N. Chopra:“Decentralized Connectivity Maintenance for Networked Lagrangian Systems with Collision Avoidance,” Asian Journal of Control, Vol. 17, No. 1, pp. 111-123 (2015)
[47] W. Ellens and R. E. Kooij:“Graph Measures and Network Robustness,” arXiv. 1311.5064 (2013)
[48] J. Cort´es and M. Egerstedt:“Coordinated Control of Multi-Robot Systems: A Sur- vey,” Journal of Control, Measurement, and System Integration, Vol. 10, No. 6, pp. 495-503 (2017)
[49] M. M. Gulzar, S. T. Rizvi, M. Y. Javed, U. Munir and H. Asif:“Multi-Agent Cooperative Control Consensus: A Comparative Review,” Electronics 2018, Vol. 7, No. 2 (2018)
[50] 宮崎 修一:“グラフ理論入門 基本とアルゴリズム,” 森北出版 (2015)
[51] E. F. Moore and C. E. Shannon:“Reliable Circuits using Less Reliable Relays,” Journal of the Franklin Institute, Vol. 262, No. 3, pp. 191-208 (1956)
[52] Z. Deng, J. Xu, Q. Song, B. Hu, T. Wu and P. Huang:“Robustness of Multi-Agent Formation Based on Natural Connectivity,” Applied Mathematics and Computation, Vol. 366 (2020)
[53] J. Singh and R. Mahajan:“Performance Analysis of AODV and OLSR using OP- NET,” International Journal of Computer Trends and Technology, Vol. 5, No. 3 (2013)
[54] M. B. Yassein and N. A. Damer:“Flying Ad-Hoc Networks: Routing Protocols, Mobility Models, Issues,” International Journal of Advanced Computer Science and Applications, vol. 7, no. 6, pp.162-168 (2016)
[55] J. H. Forsmann, R. E. Hiromoto and J. Svoboda:“A Time-Slotted On-Demand Routing Protocol for Mobile Ad Hoc Unmanned Vehicle Systems,” SPIE, Vol. 6561 (2007)
[56] M. Shobana and S. Karthik:“A Performance Analysis and Comparison of various Routing Protocols in MANET,” Proceedings of the 2013 International Conference on Pattern Recognition, Informatics and Mobile Engineering (2013)
[57] M. A. Khan, S. M. Riaz, R. M. Asif and A. Shah:“Review of Communication Protocols for FANETs: (Flying Ad-Hoc Networks),” International Conference on Engineering and Emerging Technologies, pp. 1-9 (2015)
[58] Y. Z. Hu, F. B. Zhang and T. Tian:“Dynamic Relationship-Zone Routing Protocol for Ad Hoc Networks,” Wireless Personal Communications, Vol. 114, pp. 2461-2476 (2020)
[59] M. A. Khan, A. Safi, I. M. Qureshi and I. U. Khan:“Flying Ad-Hoc Networks (FANETs): A Review of Communication Architectures, and Routing Protocols,” IEEE 2017 First International Conference on Latest trends in Electrical Engineering Computing Technologies, pp. 692-699 (2017)
[60] C. Perlins, E. B. Royer and S. Das:“Ad hoc On-Demand Distance Vector (AODV) Routing,” IETF RFC 3561 (2003)
[61] D. B. Johnson and D. A. Maltz:“Dynamic Source Routing in Ad Hoc Wireless Networks,” In Mobile Computing, edited by T. Imielinski and H. Korth, Chapter 5, Kluwer Academic Publishers, pp. 153-181 (1996)
[62] M. EffatParvar, M. EffatParvar, A. Darehshoorzadeh, M. Zarei and N. Yazdani: “Load Balancing and Route Stability in Mobile Ad Hoc Networks base on AODV Protocol,” 2010 International Conference on Electronic Devices, Systems and Ap- plications, pp. 258-263 (2011)
[63] D. G. Zhang, S. Liu, X. H. Liu, T. Zhang and Y. Y. Cui:“Novel Dynamic Source Routing Protocol (DSR) Based on Genetic Algorithm‐ Bacterial Foraging Optimiza- tion (GA‐ BFO),” International Journal of Communication System, Vol. 31, No. 18 (2018)
[64] 岩井 誠人:“移動通信における電波伝搬: 無線通信シミュレーションのための基礎知識,” コロナ社 (2012)
[65] Z. Mo, H. Zhu, K. Makki and N. Pissinou:“MURU: A Multi-Hop Routing Protocol for Urban Vehicular Ad Hoc Networks,” 2006 Third Annual International Conference on Mobile and Ubiquitous Systems: Networking and Services (2006)
[66] J. Fink, A. Ribeiro and V. Kumar:“Robust Control for Mobility and Wireless Communication in Cyber-Physical Systems With Application to Robot Teams,” Proceedings of the IEEE, Vol. 100, No. 1, pp. 164-178 (2012)
[67] S. R. Pokhrel, J. Jin and H. L. Vu:“Mobility-Aware Multipath Communication for Unmanned Aerial Surveillance Systems,” IEEE Transactions on Vehicular Technol- ogy, Vol. 68, No. 6, pp. 6088-6098 (2019)
[68] S. E. Benatia, O. Smail, B. Meftah, M. Rebbah and B. Cousin:“A Reliable Multipath Routing Protocol Based on Link Quality and Stability for MANETs in Urban Areas,” Simulation Modelling Practice and Theory, Vol. 113 (2021)
[69] S. Dulman, T. Nieberg, J. Wu and P. Havinga:“Trade-off between Traffic Overhead and Reliability in Multipath Routing for Wireless Sensor Networks,” 2003 IEEE Wireless Communications and Networking (2003)
[70] T. Wada, H. Okada, A. Jamalipour, K. Ohuchi and M. Saito:“Bit-error-rate Per- formance Improvement in Wireless Multi-hop Ad hoc Networks using Route Diver- sity Considerations,” 2006 IEEE International Conference on Communications, pp. 3591-3595 (2006)
[71] 唐沢 好男:“改訂 ディジタル移動通信の電波伝搬基礎,” コロナ社 (2016)
[72] Y. Zou and K. Chakrabarty:“Sensor Deployment and Target Localization Based on Virtual Forces,” IEEE Compute and Communications, pp. 1293-1303 (2003)
[73] J. Chen, S. Li and Y. Sun:“Novel Deployment Schemes for Mobile Sensor Networks,” SENSORS 2007, Vol 7, pp. 2907-2919 (2007)
[74] Y. Koren and J. Borenstein:“Potential Field Methods and Their Inherent Limita- tions for Mobile Robot Navigation,” IEEE Robotics and Automation, pp. 1398-1404 (1991)
[75] A. Howard, M. J. Mataric and G. S. Sukhatme:“Mobile Sensor Network Deploy- ment using Potential Fields: A Distributed, Scalable Solution to the Area Coverage Problem,” Distributed Autonomous Robotics Systems, Vol 5, pp. 299-308 (2002)
[76] 小島 政和, 土谷 隆, 水野 眞治, 矢部 博:“内点法,” 朝倉書店 (2000)
[77] 加太 宏明, 上野 誠也:“バーチャルフォースを用いた自律型 UAV 群による移動体追従制御則,” 計測自動制御学会論文集, Vol. 55, No. 3 pp.189-196 (2019)
[78] 加太 宏明:“バーチャルフォースを用いた自律型無人機群による移動体追従ネットワーク制御に関する研究,” 修士論文, 横浜国立大学, (2019)
[79] エ フ テック 株 式 会 社:“分 散 型 協 調 移 動 ロ ボット,” [オ ン ラ イ ン], Available:http://www.ftech-net.co.jp/robot/catalog/f0181stp/f0224.html. [ア クセス日:21/11/2021]
[80] 松野 文俊, 大須賀 公一, 松原 仁, 野田 五木樹, 稲見 昌彦:“ロボット制御学ハンドブック,” 近代科学社 (2017)
[81] 加太 宏明, 上野 誠也, 土橋 純也:“外乱を含む実機 UGV を用いた移動体追従ネットワーク制御,” 計測自動制御学会論文集, Vol. 56, No. 3, pp.81-88 (2020)
[82] 吉田 裕, 金 聖煕, 古澤 耕輔, 羽田 靖史:“レーザー測域センサの環境計測時に生じる誤差修正法の提案,” 情報処理学会第 78 回全国大会講演論文集, Vol. 2016, No. 1, pp.493-494 (2016)
[83] 畑尾 直孝, 鮫島 一平, 加賀美 聡:“角度ベース複数仮説を用いた LRF による複数種類・複数個の移動体追跡手法,” 計測自動制御学会論文集, Vol. 51, No. 5, pp. 297-308(2015)
[84] X. Fu, K. Liu and X. Gao:“Multi-UAVs Communication-Aware Cooperative Target Tracking,” Journal of Applied Science, Vol. 8, No. 6, 870 (2018)
[85] Y. Mostofi:“Decentralized Communication-Aware Motion Planning in Mobile Net- works: An Information-Gain Approach,” Journal of Intelligent and Robotic systems, Vol. 56, pp. 233-256 (2009)
[86] 鷹羽 浄嗣:“解説 分散型カルマンフィルタ,” 計測と制御, Vol. 56, No. 12, pp. 937-942(2017)
[87] 片山 徹:“解説 非線形カルマンフィルタの基礎,” 計測と制御, Vol. 56, No. 9, pp. 638-643 (2017)
[88] H. Kata and S. Ueno:“Connectivity Maintenance with Application to Target Search,” Journal of Control, Measurement, and System Integration, Vol. 24, No. 2, pp. 22-29, (2021)
[89] A. Esfahanian:“Connectivity Algorithms,” Cambridge University Press, pp. 268-281 (2013)
[90] 財団法人 人工知能研究振興財団:“アドホック・ネットワーク技術に関する調査研究委員会 報告書,” [オンライン], Available:https://hojo.keirin- autorace.or.jp/seikabutu/seika/22nx /bhu /ne /22-093koho-01.pdf. [ア ク セ ス日:19/11/2021]
[91] T. Murshedi, X. Wang and H. Cheng:“On-Demand Multipath Routing Protocols for Mobile Ad-Hoc Networks: A Comparative Survey,” International Journal of Future Computer and Communication, Vol. 5, No. 3, pp. 148-157 (2016)
[92] 電子情報通信学会 (執筆者:府川 和彦):“知識ベース 知識の森, 4 群 1編 6 章 ダイバーシチ技術,” [オンライン], Available:https://www.ieice- hbkb.org/files/ad base/view pdf.html?p=/files/04/04gun 01hen 06.pdf. [ア ク セス日:19/11/2021] (2010)
[93] 西村 芳一:“無線データ通信におけるディジタル・エラー訂正技術入門,” CQ 出版社(2004)
[94] J. Fink, A. Ribeiro and V.Kumar:“Robust Control of Mobility and Communications in Autonomous Robot Teams,” IEEE Access, Vol. 1, pp. 290-309 (2013)
[95] 平山 康弘, 岡田 啓山, 里敬 也, 片山 正昭:“無線マルチホップネットワークにおける複数経路パケット合成法のための経路選択基準,” 電子情報通信学会論文誌 B, Vol. J89-B, No. 10, pp. 2047-2051 (2006)
[96] 中川 信之, 鯉江 尚央, 岡田 啓, 山里 敬也, 片山 正昭:“マルチホップ無線ネットワークにおける複数経路を利用した誤り訂正手法,” 2003 電子情報通信学会通信ソサイエティ大会, B-5-119 (2003)
[97] 平山 康弘, 中川 信之, 岡田 啓, 山里 敬也, 片山 正昭:“無線マルチホップネットワーク上のリアルタイム通信における複数経路パケット合成法の性能解析,” 電子情報通信学会論文誌 B, Vol. J88-B, No. 1, pp. 269-279 (2005)
[98] Z. Ye, S. V. Krishnamurthy and S. K. Tripathi:“A Framework for Reliable Routing in Mobile Ad Hoc Networks,” IEEE INFOCOM 2003 (2003)
[99] S. J. Lee and M. Gerla:“Split Multipath Routing with Maximally Disjoint Paths in Ad hoc Networks,” IEEE International Conference on Communications (2001)
[100] 銭 飛:“ns3 によるネットワークシミュレーション,” 森北出版 (2014)
[101] 杉山 佑介, 猿渡 俊介, 渡辺 尚:“ns-3 に対する無線全二重通信方式の実装,” 情報処理学会研究報告, Vol. 2014-MBL-73, No. 19 (2014)
[102] 一般社団法人 電波産業会:“ロボット用電波利用システムに関する要求要件及び無線通信システムの技術的条件( 案)について,” [オンライン], Avail- able:https://www.soumu.go.jp/main content/000356761.pdf. [ア ク セ ス 日: 19/11/2021] (2015)
[103] A. Konak, G. E. Buchert and J. Juro:“A Flock-based Approach to Maintain Con- nectivity in Mobile Wireless Ad hoc Networks,” Applied Soft Computing Journal, Vol. 13, pp. 1284-1291 (2013)