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Artificial Life and Robotics OnlineFirst articles

20.01.2022 | Original Article

Portable measurement device to quantitatively measure capillary refilling time

Capillary refilling time (CRT) is defined as the time taken for the distal capillary bed to regain its color after the capillaries have been blanched through external skin compression. Measuring the CRT is a simple method of evaluating peripheral …

Masayoshi Shinozaki, Rika Shimizu, Daiki Saito, Taka-aki Nakada, Toshiya Nakaguchi

18.01.2022 | Original Article

Animacy perception of a pair of movements under quantitative control of its temporal contingency: a preliminary study

People perceive life-likeness from the movements of even geometric shapes. This phenomenon is called animacy perception. In this study, we examine our hypothesis that the degree to which one movement contributes to the predictability of the other …

Takuma Torii, Kenichi Oguma, Shohei Hidaka

14.01.2022 | Original Article

Optimization of urban logistics terminal distribution based on cellular automaton model

In this paper, a method of urban terminal network location based on cellular automaton and genetic algorithm is proposed for the lack of scientific and standardized evaluation system in urban terminal network location problem. In this method, on …

Chengyou Cui, Qiyue Xu

12.01.2022 | Original Article

Improved rollover prevention controller for heavy vehicles with varying velocity and values of vehicle parameters

In general, vehicle longitudinal velocity varies and the values of vehicle parameters vary greatly. Therefore, when we ignore the facts and design a controller, the controlled vehicle system may have undesired control performance. In the worst …

Syogo Miyamoto, Masahiro Oya

09.01.2022 | Original Article

Herd guidance by multiple sheepdog agents with repulsive force

This paper proposes a scalable method of guiding sheep herding with efficiency and robustness by single or multiple sheepdogs. Recently, much attention has been paid to control methods modeled on a sheep herd by a very small number of sheepdog …

Masao Kubo, Midori Tashiro, Hiroshi Sato, Akihiro Yamaguchi

07.01.2022 | Original Article

Stereo-vision-based AUV navigation system for resetting the inertial navigation system error

The Autonomous Underwater Vehicle (AUV) is used for underwater exploration of the sea floor. The AUV uses an Inertial Navigation System (INS) to recognize its position in the water, through the position estimation error of the INS increases with …

Horng Yi Hsu, Yuichiro Toda, Kohei Yamashita, Keigo Watanabe, Masahiko Sasano, Akihiro Okamoto, Shogo Inaba, Mamoru Minami

05.01.2022 | Original Article

Evolving collective step-climbing behavior in multi-legged robotic swarm

This paper focuses on generating the collective step-climbing behavior of a multi-legged robotic swarm. Most studies on swarm robotics develop collective behaviors in a flat environment using mobile robots equipped with wheels. However, these …

Daichi Morimoto, Motoaki Hiraga, Naoya Shiozaki, Kazuhiro Ohkura, Masaharu Munetomo

29.11.2021 | Original Article

Using sim-to-real transfer learning to close gaps between simulation and real environments through reinforcement learning

We attempt to develop an autonomous mobile robot that supports workers in the warehouse to reduce their burden. The proposed robot acquires a state-action policy to circumvent obstacles and reach a destination via reinforcement learning, using a …

Yuto Ushida, Hafiyanda Razan, Shunta Ishizuya, Takuto Sakuma, Shohei Kato

27.11.2021 | Original Article

An evaluation of fluidics for tsunamis in pedestrian’s flood evacuations

In recent years, earthquakes have been observed at an increasing rate. A large-scale earthquake may lead to a tsunami, which could cause floods in urban areas. The evacuation of pedestrians in front of an approaching tsunami is difficult due to …

Yuichi Hirokawa, Daisuke Matsuoka, Noriaki Nishikawa, Toshiyuki Asano

26.11.2021 | Original Article

A hierarchical training method of generating collective foraging behavior for a robotic swarm

Swarm robotics is a field in which multiple robots coordinate their collective behavior autonomously to accomplish a given task without any form of centralized control. Training a robotic swarm to complete a multi-objective task under sparse …

Boyin Jin, Yupeng Liang, Ziyao Han, Motoaki Hiraga, Kazuhiro Ohkura

26.11.2021 | Original Article Open Access

Application of neural ordinary differential equations to the prediction of multi-agent systems

Dynamic systems are usually described by differential equations, but formulating these equations requires a high level of expertise and a detailed understanding of the observed system to be modelled. In this work, we present a data-driven …

Sebastian Herzog, Florentin Wörgötter

25.11.2021 | Original Article

Topology and weight evolving artificial neural networks in cooperative transport by a robotic swarm

This paper applies Topology and Weight Evolving Artificial Neural Networks (TWEANNs) to design controllers for a robotic swarm. A typical method of designing controllers by an evolutionary robotics approach uses neural networks as the robot …

Motoaki Hiraga, Kazuhiro Ohkura

17.11.2021 | Original Article

Optimal trajectory generation of a drone for wheelchair tracking using mixed-integer programming

This study considers the optimal-trajectory generation problem in which a drone recognizes a wheelchair with an onboard camera while avoiding collision with obstacles. The optimal-trajectory generation was developed as a mixed-integer programming …

Shun Watanabe, Masakazu Mukai

17.11.2021 | Correction

Correction to: Proposal and evaluation for color constancy CAPTCHA

In the original publication of the article, on Figs. 4 and 5, “CNN” should read as “MLP”.

Shotaro Usuzaki, Kentaro Aburada, Hisaaki Yamaba, Tetsuro Katayama, Masayuki Mukunoki, Mirang Park, Naonobu Okazaki

03.11.2021 | Original Article

Robustness of collective scenting in the presence of physical obstacles

Honey bees (Apis mellifera L.) aggregate around the queen by collectively organizing a communication network to propagate volatile pheromone signals. Our previous study shows that individual bees “scent” to emit pheromones and fan their wings to …

Dieu My T. Nguyen, Golnar Gharooni Fard, Michael L. Iuzzolino, Orit Peleg

01.11.2021 | Original Article

A survey of 3D object detection algorithms for intelligent vehicles development

With the rapid development of Artificial Intelligent algorithms on Computer Vision, 2D object detection has greatly succeeded and been applied in various industrial products. In the past several years, the accuracy of 2D object detection has been …

Zhen Li, Yuren Du, Miaomiao Zhu, Shi Zhou, Lifeng Zhang

29.10.2021 | Original Article

Motion and force control with a linear force error filter for the manipulator of an underwater vehicle-manipulator system

This paper deals with a motion and force control scheme for underwater robots, each of which is equipped with a manipulator. Several motion and force controllers for this type of underwater robot have been developed. Most of them were designed …

Yuichiro Taira, Shinichi Sagara, Masahiro Oya

27.10.2021 | Original Article Open Access

Evaluation of the effects of food intake on task engagement based on psychophysiological states

The objective of this study was to evaluate the effects of food intake on performance and task engagement based on psychophysiological states. The experiment was conducted under two conditions: taking a break with his eyes opened between the …

Nanako Kurogi, Kanako Sakiyama, Shigeru Tominaga, Yoshio Toyama, Kent Nagumo, Kosuke Oiwa, Akio Nozawa

01.10.2021 | Original Article

Comparison of noncontact camera-based methods for measuring pulse-rate of awake infants

Noncontact camera-based methods for measuring the pulse rate have been introduced in recent years. However, in previous studies, pulse-rate measurement experiments have been conducted only for adults and/or sleeping infants, and not for infants …

Keiko Ogawa-Ochiai, Takuma Kiyokawa, Kaoru Kiyomitsu, Roman Bednarik, Yusuke Mitani, Norimichi Tsumura

18.01.2019 | Original Article

Multi-objective safe reinforcement learning

The relationship between multi-objective reinforcement learning and safe reinforcement learning

Reinforcement learning (RL) is a learning method that learns actions based on trial and error. Recently, multi-objective reinforcement learning (MORL) and safe reinforcement learning (SafeRL) have been studied. The objective of conventional RL is …