Research

For autonomous mobile robots, a high precision positioning method in unstructured and dynamically changing environments is indispensable. Dead reckoning is a popular method but due to the error accumulation from wheel slippage, its reliability is low for measurement of long distances especially on uneven surfaces. Another popular method is the landmark method, which estimates current position relative to known landmarks, but the landmark method's limitation is that it cannot be used in an uncharted environment. GPS (Global Positioning System) has high performance as a three-dimensional positioning system on the ground level. However, it cannot be used in the environment where radio waves cannot reach such as indoors or underground. To overcome these shortcomings, we have been proposing a new method called "Cooperative Positioning System (CPS)". The main concept of CPS is to divide the robots into two groups, A and B where group A remains stationary and acts as a landmark while group B moves and then group B stops and acts as a landmark for group A. This process is repeated until the target position is reached. Compared with dead reckoning, CPS has a far lower accumulation of positioning errors, and can also work in three dimensions. Furthermore, CPS employs inherent landmarks and therefore can be used in uncharted environments unlike the landmark method. We have developed several CPS machine models named CPS-I, CPS-II and CPS-III, and demonstrated their performance for several tasks, such as floor cleaning and surveying in an unknown environment.

CPS-I (1994)	CPS-II (1996)	CPS-III (1998)	CPS-IV (1998)
CPS-V (2006)	CPS-VI (2011)	CPS-VII (2015)	CPS-VIII (2017)

CPS-I	CPS-II	CPS-III
CPS-IV	CPS-V rev.1	CPS-V
CPS-VI	CPS-VII	CPS-VIII

Papers

• Ryo Kurazume, Souichiro Oshima, Shingo Nagakura, Yongjin Jeong, Yumi Iwashita, Automatic large-scale three dimensional modeling using cooperative multiple robots, Computer Vision and Image Understanding, Vol.157, pp. 25-42, 2017, doi:10.1016/j.cviu.2016.05.008
• Souichiro Oshima, Shingo Nagakura, Yongjin Jeong, Yumi Iwashita, Ryo Kurazume, Automatic planning of laser measurements for a large-scale environment using CPS-SLAM system, Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2015), Hamburg, Germany, Sep. 28-Oct. 2, 2015
• Shuji Oishi, Yongjin Jeong, Ryo Kurazume, Yumi Iwashita and Tsutomu Hasegawa, ND voxel localization using large-scale 3D environmental map and RGB-D camera, 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp.538-545, Shenzhen, Dec. 12-14, 2013(Best Paper Award Finalist)
• Yongjin Jeong, Ryo Kurazume, Yoonseok Pyo, Yumi Iwashita, Tsutomu Hasegawa, High-Precision Three-Dimensional Laser Measurement System by Cooperative Multiple Mobile Robots, 2012 IEEE/SICE International Symposium on System Integration (SII2012), pp.198-205, Fukuoka, 2012.12.16-18, 2012
• Yukihiro Tobata, Ryo Kurazume, Yusuke Noda, Kai Lingemann, YumiIwashita, Tsutomu Hasegawa, Laser-based geometrical modeling of large-scale architectural structures using co-operative multiple robots, Autonomous Robot, Vol.32, No.1, pp. 49-62, (2012)
• R. Kurazume and S. Hirose, Development of a Cleaning Robot System with Cooperative Positioning System, Autonomous Robots, Vol. 9, No. 3, pp. 237-246, (2000).
• R. Kurazume and S. Hirose, An Experimental Study of a Cooperative Positioning System, Autonomous Robots, Vol. 8, No. 1, pp. 43-52, (2000).
• Yukihiro Tobata, Ryo Kurazume, Yumi Iwashita and Tsutomu Hasegawa, Automatic laser-based geometrical modeling using multiple mobile robots, 2010 IEEE International Conference on Robotics and Biomimetics (ROBIO 2010), pp.363-369, Tianjin, Dec. 14-18, 2010 (T.J.Tarn Best Paper in Robotics)
• Ryo Kurazume, Yusuke Noda, Yukihiro Tobata, Kai Lingemann, Yumi Iwashita, Tsutomu Hasegawa, Laser-based Geometric Modeling using Cooperative Multiple Mobile Robots, in Proc. IEEE International Conference on Robotics and Automation, pp.3200-3205, May 12-17, 2009.
• Ryo Kurazume, Yukihiro Tobata, Yumi Iwashita, Tsutomu Hasegawa, 3D laser measurement system for large scale architectures using multiple mobile robots, The 6th International Conference on 3-D Digital Imaging and Modeling (3DIM2007), August 2007.
• R. Kurazume and S. Hirose, Study on Cooperative Positioning System - Optimum Moving Strategies for CPS-III -, Proc. IEEE Int. Conf. on Robotics and Automation, Vol. 4, pp. 2896-2903, 1998.
• R. Kurazume, S. Hirose, S. Nagata, and N. Sashida, Study on Cooperative Positioning System -Basic Principle and Measurement Experiment-, Proc. IEEE Int. Conf. on Robotics and Automation, Vol. 2, pp. 1421-1426, 1996.
• R. Kurazume, S. Nagata and S. Hirose, Cooperative Positioning with Multiple Robots, Proc. IEEE Int. Conf. on Robotics and Automation, Vol. 2, pp. 1250-1257, (1994).
• R. Kurazume, S. Nagata and S. Hirose, Cooperative Positioning with Multiple Robots, Proc. JSME 2nd Int. Conf. on Motion and Vibration Control, pp. 244-249, (1994).
• Ryo Kurazume, Shigeo Hirose, Study on Cooperative Positioning System - Optimum Moving Strategies for CPS-III -, Proc. IEEE Int. Conf. on Robotics and Automation, pp. 2896-2903, 1998
• Ryo Kurazume, Shigeo Hirose, Shigemi Nagata, N. Sashida, Study on Cooperative Positioning System -Basic Principle and Measurement Experiment-, Proc. IEEE Int. Conf. on Robotics and Automation, pp. 1421-1426, 1996
• Ryo Kurazume, Shigemi Nagata, Shigeo Hirose, Cooperative Positioning with Multiple Robots, Proc. IEEE Int. Conf. on Robotics and Automation, pp. 1250-1257, 1994
• Yusuke Noda, Ryo Kurazume, Yumi Iwashita, and Tsutomu Hasegawa, Laser-based Modeling of Cultural Heritage Using Cooperative Multiple Robots, Proc. 5th Joint Workshop on Machine Perception and Robotics (MPR2009), MPR2009-ps2-4, (2009 10)
• Yukihiro Tobata, Ryo Kurazume, and Tsutomu Hasegawa, Study on CPS SLAM, Proc. The Third Joint Workshop on Machine Perception and Robotics, CD-ROM, (2007.11).(Best Poster Session Award)

We have been developing a robust localization technique for robocup middle league robots using omni-directional cameras.

Fusion

We have been developing a rescue robot system consisting of multiple robots.

Papers

• Ryuichi Hodoshima, Michele Guarnieri, Ryo Kurazume, Hiroshi Masuda, Takao Inoh, Paulo Debenest, Edwardo F. Fukushima and Shigeo Hirose, HELIOS Tracked Robot Team : Mobile RT System for Special Urban Search and Rescue Operations, Journal of Robotics and Mechatronics, Vol.23, No.6, pp.1041-1054, 2011
• Michele Guarnieri, Ryo Kurazume, Hiroshi Masuda, Takao Inoh, Kensuke TAKITA, Ryuichi Hodoshima, Paulo Debenest, Edwardo F. Fukushima, Shigeo Hirose, HELIOS System: A Team of Tracked Robots for Special Urban Search and Rescue Operations, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS09), pp.2795-2800, St. Louis, October 11-15, 2009
• Michele Guarnieri, Paulo Debenest, Takao Inoh, Kensuke Takita, Hiroshi Masuda, Ryo Kurazume, Edwardo F. Fukushima, Shigeo Hirose, HELIOS Carrier: Tail-like Mechanism and Control Algorithm for Stable Motion in Unknown Environments, in Proc. IEEE International Conference on Robotics and Automation, pp.1851-1856, May 12-17, 2009.

We are developing autonomous mobile sensor terminals "Portable Go", which spread in informationally unstructured environment and guide other robots using laser range finder equipper on it.

See "Service robots" page for more information.

Papers

• Yuuta Watanabe, Akio Shigekane, Kohei Matsumoto, Akihiro Kawamura, Ryo Kurazume, Development of mobile sensor terminals "Portable Go" for navigation in informationally structured and unstructured environments, ROBOMECH Journal, Vol.X, No.X, 2019, DOI:10.1186/s40648-019-0134-1