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When an active volcano erupts, a restricted area is typically set according to the eruption level. However, it is very important to observe eruption products inside of this area to predict the timing and scale of volcanic hazards, such as debris flows. Therefore, we propose a robotic observation system for active volcanoes that is composed of a multi-rotor unmanned aerial vehicle (UAV) and a mobile...
In this paper, we propose a new method of controlling a group of mobile robots based on formation abstraction. The shape of a formation is represented by a deformable polygon, which is constructed by bending a rectangle, to go through narrow spaces without colliding with obstacles. If the trajectory of the front end point, as well as the width and the length of the formation, are given, the formation...
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