Abstract: A control device includes a communication unit, a restriction condition calculation unit, and a control unit. The communication unit receives, from a second robot, a current position of the second robot, and restriction-related information used for controlling the second robot based on positions of a first robot and the second robot at past times. The restriction condition calculation unit calculates restriction condition candidates indicating conditions of a range in which movement is possible, based on the current position and the restriction-related information received from the second robot. The restriction condition calculation unit also identifies a restriction condition having the most recent time among the calculated restriction condition candidates. The control unit controls the position of the first robot so as to move in a manner satisfying the restriction condition identified by the restriction condition calculation unit.

Abstract: A route planning apparatus 1 includes a state information generation unit 2 configured to generate, every unit time, state information indicating a state of each moving object 20, in a search for a first route to a target site corresponding to the moving object 20, a stop unit 3 configured to stop generation of the state information when a condition for stopping generation of the state information is satisfied, and a route searching unit 4 configured to search for a second route to the target site, based on the state information generated before the state transitioned, after generation of the state information is stopped.

Abstract: Provided is a route planning apparatus including a search unit 2 configured to search for a first route that connects each moving object and a lay-by area, when a deadlock is detected in a route plan of one or more moving objects 20, and a re-planning unit 3 configured to re-plan a second route from each moving object 20 to a target site such that the first routes which have been respectively found for the moving objects 20 do not collide with each other.

Abstract: Information processing apparatus includes: an observation unit that observes situations and speeds of agents; a task weight estimation unit that estimates second task weights with reference to a first model based on the observed positions, the observed speeds, and first task weights indicating set execution probabilities of tasks by the agents, the second task weights indicating execution probabilities of the tasks by the agents under the observed statuses; and a task weight update unit that updates the first task weights by inputting the observed positions, the observed speeds, and the second task weights to a second model. When one of a position and a speed has been input together with a weight coefficient, the first model outputs the other of the position and the speed. The second model increases a value of a first weight as a cost calculated using a position, a speed, and a second task weight decreases.

Abstract: A control system includes a control apparatus and a plurality of robots. The control apparatus includes a function acquisition unit that acquires a function, a function form conversion unit that converts the function into a distributed calculable form, and a variable conversion unit that sets, based on the function which form is converted, variables to be stored by each of the robots and a process corresponding to the variables, to the robot. Each of the plurality of robots a consensus control means that updates a variable value stored by the robot itself based on the set variable while sending and receiving variable values among other communicable robots, and a function value inference means that infers a function value from the variable based on the set process.

Abstract: The information processing device 1B includes an acquisition unit 51A, a potential function synthesizing unit 53A, and an objective function outputting unit 54A. The acquisition unit 51A acquires a task logical expression in which an objective task to be performed by a robot is expressed by a combination of a plurality of atomic tasks. The potential function synthesizing unit 53A synthesizes atomic potential functions, each of which is a potential function corresponding to each of the atomic tasks, based on the task logical expression. The objective function output unit 54A outputs an atomic potential function synthesized based on the task logical expression as an objective function for controlling the robot.

Abstract: The information processing device 1A mainly includes an acquisition unit 51A, a sampling unit 54A, an artificial force field calculation unit 55A, and an output unit 56A. The acquisition unit 51A is configured to acquire a task logical expression in which an objective task to be performed by a robot is expressed by a combination of a plurality of atomic tasks. The sampling unit 54A is configured to perform sampling of one potential function from among a plurality of potential functions each of which is synthesized atomic potential functions, the atomic potential functions each corresponding to each of the atomic tasks. The artificial force field calculation unit 55A is configured to calculate, on a basis of the sampled potential function, an approximate artificial force field which approximates an artificial force field yielded when the atomic potential functions are synthesized according to the task logical expression. The output unit 56A is configured to output the approximate artificial force field.

Abstract: A route planning apparatus 1 includes a state information generation unit 2 configured to generate, every unit time, state information indicating a state of each moving object 20, in a search for a first route to a target site corresponding to the moving object 20, a stop unit 3 configured to stop generation of the state information when a condition for stopping generation of the state information is satisfied, and a route searching unit 4 configured to search for a second route to the target site, based on the state information generated before the state transitioned, after generation of the state information is stopped.

Abstract: A route search support apparatus 10 is an apparatus for supporting a search for a route of multiple moving objects that move independently in a specific area. The search support apparatus 10 includes an information acquisition unit 11 that acquire a map information of the specific area and a task point information that specifies a task point at which the moving objects executes a task in the specific area, and an escape point setting unit 12 that set an escape point at which the moving object escape based on the map information and the task point information, so that the escape point does not exist on a route between task points in the specific area.

Abstract: Provided is a route planning apparatus including a search unit 2 configured to search for a first route that connects each moving object and a lay-by area, when a deadlock is detected in a route plan of one or more moving objects 20, and a re-planning unit 3 configured to re-plan a second route from each moving object 20 to a target site such that the first routes which have been respectively found for the moving objects 20 do not collide with each other.

Abstract: A bid reception means 81 receives a bid including one or more items from among a plurality of items which are bid candidates, from a bidder. A competition determination means 83 determines whether a received bid price for each item subjected to bidding is higher than a sale price of the item subjected to bidding, and decides to update a buyer of the item in the case where the bid price is higher than the sale price, based on buyer information including the buyer and the sale price of the item. A competing buyer rejection means 84, in the case where, when the decision is made to update the buyer, a bid price for at least one item from among a plurality of items corresponding to a same buyer is higher than a sale price of the item, updates the buyer of each of all the plurality of items to absence of a buyer.

Abstract: A flight management system (500) according to the present invention is provided with: an airspace information management unit (501) which manages airspace information, which is information related to an airspace represented by means of a three-dimensional spatial region and a temporal interval; an unapproved flight plan management unit (502) which, upon reception of a flight plan for a moving body, manages the flight plan in association with a combination of airspaces to be used in the flight plan, on the basis of the airspace information; and a flight plan approving unit (503) which, on the basis of the airspace information and the association described above, detects at least a conflict or an interference of airspaces between a plurality of flight plans, and approves or disapproves the flight plan on the basis of the result of detection.

Abstract: A path determination device calculates a cost for a plurality of mobile bodies to travel, based on a time loss, the time loss indicating a temporal loss that arises when at least one of the plurality of mobile bodies takes a detour around another one of the mobile bodies.