Organization
Undergraduate School School of Science and Technology Associate Professor
Title
Associate Professor
External link
Degree
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博士（環境学） ( 東京大学 )
Research Interests
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Acoustic Network
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Navigation
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Autonomous Underwater Vehicle
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Multiple Robot System
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フィールドロボティクス
Research Areas
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Aerospace, marine, and maritime Engineering / Marine and maritime engineering
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Informatics / Robotics and intelligent systems
Education
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東京大学 大学院新領域創成科学研究科 海洋技術環境学専攻 博士課程
2012.4 - 2015.3
Professional Memberships
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IEEE Oceanic Engineering Society
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海洋調査技術学会
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日本船舶海洋工学会
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日本ロボット学会
Committee Memberships
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Underwater Technology Symposium 2023, Technical Committee
2022.2 - 2023.3
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水中ロボットコンベンション 実行委員
2015
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IEEE Oceanic Engineering Society Japan Chapter Newsletter Associate Editor
2015
Papers
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Yang Weng, Sehwa Chun, Masaki Ohashi, Takumi Matsuda, Yuki Sekimori, Joni Pajarinen, Jan Peters, Toshihiro Maki
Journal of Field Robotics 41 ( 6 ) 1724 - 1743 2024.9
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Bearing, elevation, and depth difference passive inverted acoustic navigation for an AUV fleet Reviewed
Yuki Sekimori, Yukiyasu Noguchi, Takumi Matsuda, Yang Weng, Toshihiro Maki
Applied Ocean Research 144 2024.3
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Takumi Matsuda, Yang Weng, Yuki Sekimori, Takashi Sakamaki, Toshihiro Maki
Journal of Robotics and Mechatronics 36 ( 1 ) 190 - 200 2024.2
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Cooperative Ocean Survey Method by a UAV and an AUV: State Estimation of the AUV Based on the UAV Reviewed
Takumi Matsuda, Yusuke Yokota
Marine Technology Society Journal 57 ( 4 ) 24 - 33 2023.12
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Improving the Quality of Underwater Wireless Optical Communications in Uncertain Ocean Environments Reviewed
Yang Weng, Takumi Matsuda, Toshihiro Maki
2023 IEEE International Symposium on Underwater Technology, UT 2023 2023.3
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Establishment of line-of-sight optical links between autonomous underwater vehicles: Field experiment and performance validation Reviewed
Yang Weng, Takumi Matsuda, Yuki Sekimori, Joni Pajarinen, Jan Peters, Toshihiro Maki
Applied Ocean Research 129 2022.12
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Reinforcement Learning Based Underwater Wireless Optical Communication Alignment for Autonomous Underwater Vehicles Reviewed
Yang Weng, Joni Pajarinen, Riad Akrour, Takumi Matsuda, Jan Peters, Toshihiro Maki
IEEE Journal of Oceanic Engineering 47 ( 4 ) 1231 - 1245 2022.10
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A mutual positioning relay method of multiple robots for monitoring indoor environments Reviewed
Takumi Matsuda, Yoji Kuroda, Ren Fukatsu, Takumi Karasawa, Marika Takasago, Kanta Morishita
International Journal of Advanced Robotic Systems 19 ( 5 ) 1 - 13 2022.9
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Pointing Error Control of Underwater Wireless Optical Communication on Mobile Platform Reviewed
Yang Weng, Takumi Matsuda, Yuki Sekimori, Joni Pajarinen, Jan Peters, Toshihiro Maki
IEEE Photonics Technology Letters 34 ( 13 ) 699 - 702 2022.7
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Takumi Matsuda, Kenichi Fujita, Yuya Hamamatsu, Takashi Sakamaki, Toshihiro Maki
Journal of Field Robotics 39 ( 2 ) 89 - 106 2022.3
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Bearing-Only Aided Bearing, Elevation, Depth Difference Self-localization for Multiple AUVs Reviewed
Yuki Sekimori, Takumi Matsuda, Toshihiro Maki
OCEANS 2022: Chennai 2022.2
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Sim-to-Real Transfer for Underwater Wireless Optical Communication Alignment Policy between AUVs Reviewed
Yang Weng, Takumi Matsuda, Yuki Sekimori, Joni Pajarinen, Jan Peters, Toshihiro Maki
OCEANS 2022: Chennai 2022.2
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Low-Cost High-Performance Seafloor Surveying by Multiple Autonomous Underwater Vehicles Reviewed International journal
Takumi Matsuda
Applied Ocean Research 117 1 - 14 2021.12
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Underwater Communication Using UAVs to Realize High-Speed AUV Deployment Reviewed International journal
Yusuke Yokota, Takumi Matsuda
13 ( 20 ) 1 - 11 2021.10
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Experimental Results of Ship-free Underwater Survey Method of Multiple Autonomous Underwater Vehicles Reviewed
Takumi Matsuda, Yuya Hamamatsu, Kenichi Fujita, Takashi Sakamaki, Toshihiro Maki
1 - 5 2021.9
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Scalable Real-time Global Self-localization of Multiple AUV System using Azimuth, Elevation, and Depth Difference Acoustic Positioning Reviewed
OCEANS 2021: San Diego-Porto 1 - 6 2021.9
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Landing Method of Autonomous Underwater Vehicles for Seafloor Surveying Reviewed International journal
Takumi Matsuda, Ryota Takizawa, Takashi Sakamaki, Toshihiro Maki
Applied Ocean Research 101 1 - 17 2020.8
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Resident autonomous underwater vehicle: Underwater system for prolonged and continuous monitoring based at a seafloor station Reviewed International journal
Takumi Matsuda, Toshihiro Maki, Kotohiro Masuda, Takashi Sakamaki
Robotics and Autonomous Systems 120 1 - 19 2019.10
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Bearing Only Localization for Multiple AUV with Acoustic Broadcast Communication Reviewed
Kenichi Fujita, Takumi Matsuda, Toshihiro Maki
The 19th International Conference on Control, Automation and Systems (ICCAS 2019) 1371 - 1376 2019.10
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Accurate and Efficient Seafloor Observations With Multiple Autonomous Underwater Vehicles: Theory and Experiments in a Hydrothermal Vent Field Reviewed International journal
Takumi Matsuda, Toshihiro Maki, Takashi Sakamaki
IEEE Robotics and Automation Letters (RA-L) 4 ( 3 ) 2333 - 2339 2019.7
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Short Range Tracking Method of Underwater Vehicles Based on Vision Reviewed
Yuya Hamamatsu, Takumi Matsuda, Takashi Sakamaki, Toshihiro Maki
OCEANS 2019 - Marseille 1 - 5 2019.6
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Takumi Matsuda, Toshihiro Maki, Takashi Sakamaki
OCEANS 2019 - Marseille 1 - 5 2019.6
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Takumi Matsuda, Toshihiro Maki, Kotohiro Masuda, Takashi Sakamaki, Kenji Ohkuma
2018 IEEE/OES AUTONOMOUS UNDERWATER VEHICLE WORKSHOP (AUV) 1 - 5 2018.11
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2018 OCEANS - MTS/IEEE KOBE TECHNO-OCEANS (OTO) 1 - 7 2018.5
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Rao-Blackwellized Particle Filter with grid-mapping for AUV SLAM using Forward-Looking Sonar Reviewed International coauthorship
2018 OCEANS - MTS/IEEE KOBE TECHNO-OCEANS (OTO) 1 - 9 2018.5
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Experimental Evaluation of Accuracy and Efficiency of Alternating Landmark Navigation by Multiple AUVs Reviewed International journal
Takumi Matsuda, Toshihiro Maki, Yoshiki Sato, Takashi Sakamaki
IEEE Journal of Oceanic Engineering 43 ( 2 ) 288 - 310 2018.4
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Docking Method for Hovering-Type AUVs Based on Acoustic and Optical Landmarks Reviewed International journal
Toshihiro Maki, Yoshiki Sato, Takumi Matsuda, Kotohiro Masuda, Takashi Sakamaki
Journal of Robotics and Mechatronics 30 ( 1 ) 55 - 64 2018.2
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Takumi Matsuda, Toshihiro Maki, Mehul Sangekar
OCEANS ’17 MTS/IEEE Anchorage 1 - 5 2017.9
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Alternating landmark navigation of multiple AUVs for wide seafloor survey: Field experiment and performance verification Reviewed International journal
Takumi Matsuda, Toshihiro Maki, Yoshiki Sato, Takashi Sakamaki, Tamaki Ura
Journal of Field Robotics 35 ( 3 ) 359 - 395 2017.9
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Accurate and efficient survey of the seafloor by multiple AUVs using alternating landmark navigation - Sea experiments using three AUVs Reviewed
Takumi Matsuda, Toshihiro Maki, Yoshiki Sato, Takashi Sakamaki
OCEANS 2017 - Aberdeen 2017- 1 - 10 2017.6
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Yoshiki Sato, Toshihiro Maki, Kotohiro Masuda, Takumi Matsuda, Takashi Sakamaki
2017 IEEE Underwater Technology (UT) 2017
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Sea Experiments and Tank Tests on Alternating Landmark Navigation Using Multiple AUVs-Towards Accurate and Efficient Survey of Seafloor by AUVs Reviewed
Takumi Matsuda, Toshihiro Maki, Yoshiki Sato, Takashi Sakamaki
2016 IEEE/OES AUTONOMOUS UNDERWATER VEHICLES (AUV) 213 - 221 2016.11
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Evaluation of Position Estimation of AUV Tri-TON 2 in Real Sea Experiments Reviewed
Yoshiki Sato, Toshihiro Maki, Hayato Mizushima, Takumi Matsuda, Takashi Sakamaki
OCEANS 2015 - GENOVA 1 - 6 2015.5
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A cooperative navigation method of multiple AUVs for wide seafloor survey-first performance evaluation in sea environments- Reviewed International journal
Takumi Matsuda, Toshihiro Maki, Yoshiki Sato, Takashi Sakamaki, Tamaki Ura
Marine and Underwater Science and Technology 1 ( 1 ) 11 - 22 2015.5
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Performance Verification of the Alternating Landmark Navigation by Multiple AUVs through Sea Experiments Reviewed
Takumi Matsuda, Toshihiro Maki, Yoshiki Sato, Takashi Sakamaki
OCEANS 2015 - GENOVA 1 - 9 2015.5
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State Estimation and Compression Method for the Navigation of Multiple Autonomous Underwater Vehicles With Limited Communication Traffic Reviewed International journal
Takumi Matsuda, Toshihiro Maki, Takashi Sakamaki, Tamaki Ura
IEEE Journal of Oceanic Engineering 40 ( 2 ) 337 - 348 2015.4
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Detailed 3D Seafloor Imaging of Kagoshima Bay by AUV Tri-TON2 Reviewed
Yoshiki Sato, Toshihiro Maki, Takumi Matsuda, Takashi Sakamaki
2015 IEEE UNDERWATER TECHNOLOGY (UT) 1 - 6 2015.2
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AUV Tri-TON 2: An intelligent platform for detailed survey of hydrothermal vent fields Reviewed
Toshihiro Maki, Yoshiki Sato, Takumi Matsuda, Reyes-Tatsuru Shiroku, Takashi Sakamaki
2014 IEEE/OES AUTONOMOUS UNDERWATER VEHICLES (AUV) 1 - 5 2014.10
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Path Replanning Method for an AUV in Natural Hydrothermal Vent Fields: Toward 3D Imaging of a Hydrothermal Chimney Reviewed International journal
Yoshiki Sato, Toshihiro Maki, Ayaka Kume, Takumi Matsuda, Takashi Sakamaki, Tamaki Ura
Marine Technology Society Journal 48 ( 3 ) 104 - 114 2014.5
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Cooperative Navigation Method of Multiple Autonomous Underwater Vehicles for Wide Seafloor Survey-Sea Experiment with Two AUVs Reviewed
Takumi Matsuda, Toshihiro Maki, Yoshiki Sato, Takashi Sakamaki
OCEANS 2014 - TAIPEI 1 - 9 2014.4
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Primary Experimental Results of the Navigation Method of Multiple Autonomous Underwater Vehicles Reviewed
Takumi Matsuda, Toshihiro Maki, Takashi Sakamaki, Tamaki Ura
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2013 2650 - 2657 2013.11
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State Estimation of Multiple Autonomous Underwater Vehicles for Wide Area Survey of Seafloor Reviewed
Takumi Matsuda, Toshihiro Maki, Takashi Sakamaki, Tamaki Ura
2013 MTS/IEEE OCEANS - BERGEN 1 - 9 2013.6
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Field Experimental Results of Path Re-planning Method for an AUV to Visualize Complicated Surface in 3D Reviewed
Yoshiki Sato, Toshihiro Maki, Ayaka Kume, Takumi Matsuda, Takashi Sakamaki, Tamaki Ura
2013 IEEE INTERNATIONAL UNDERWATER TECHNOLOGY SYMPOSIUM (UT) 1 - 7 2013.3
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Toward wide seafloor surveys using multiple autonomous underwater vehicles Reviewed
Takumi Matsuda, Toshihiro Maki, Takashi Sakamaki, Tamaki Ura
2013 IEEE International Underwater Technology Symposium, UT 2013 1 - 9 2013.3
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AUV Tri-TON - A Hover-Capable Platform for 3D Visualization of Complicated Surfaces Reviewed
Toshihiro Maki, Yoshiki Sato, Takumi Matsuda, Ayaka Kume, Takashi Sakamaki, Tamaki Ura
2013 IEEE INTERNATIONAL UNDERWATER TECHNOLOGY SYMPOSIUM (UT) 1 - 6 2013.3
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Docking Method for Hovering Type AUVs by Acoustic and Visual Positioning Reviewed
Toshihiro Maki, ReyesTatsuru Shiroku, Yoshiki Sato, Takumi Matsuda, Takashi Sakamaki, Tamaki Ura
2013 IEEE INTERNATIONAL UNDERWATER TECHNOLOGY SYMPOSIUM (UT) 1 - 6 2013.3
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Navigation method for underwater vehicles based on mutual acoustical positioning with a single seafloor station Reviewed International journal
Toshihiro Maki, Takumi Matsuda, Takashi Sakamaki, Tamaki Ura, Junichi Kojima
IEEE Journal of Oceanic Engineering 38 ( 1 ) 167 - 177 2013.1
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State Estimation of Multiple AUVs with Limited Communication Traffic Reviewed
Takumi Matsuda, Toshihiro Maki, Takashi Sakamaki, Tamaki Ura
2012 OCEANS 1 - 10 2012.10
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Alternant Landmark Positioning: Towards Wide Area Observation by Multiple AUVs Reviewed
Takumi Matsuda, Toshihiro Maki, Takashi Sakamaki, Tamaki Ura
OCEANS, 2012 - YEOSU 1 - 10 2012.5
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Performance Analysis on a Navigation Method of Multiple AUVs for Wide Area Survey Reviewed International journal
Takumi Matsuda, Toshihiro Maki, Takashi Sakamaki, Tamaki Ura
Marine Technology Society Journal 46 ( 2 ) 45 - 55 2012.3
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Large area navigation method of multiple AUVs based on mutual measurements Reviewed
Takumi Matsuda, Toshihiro Maki, Takashi Sakamaki, Tamaki Ura
OCEANS 2011 1 - 9 2011.9
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AUV navigation with a single seafloor station based on mutual orientation measurements Reviewed
Toshihiro Maki, Takumi Matsuda, Takashi Sakamaki, Tamaki Ura
2011 IEEE Symposium on Underwater Technology, UT'11 and Workshop on Scientific Use of Submarine Cables and Related Technologies, SSC'11 1 - 7 2011.3
MISC
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Research Activities in Underwater and Land Robotics
Takumi Matsuda
10 ( 3 ) 31 - 32 2021.9
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A Cooperative Navigation Method of Multiple Autonomous Underwater Vehicles towards Completely Unmanned Ocean Survey
Takumi Matsuda, Yuya, Hamamatsu Kenichi, Fujita Takashi, Sakamaki Toshihiro Maki
59 - 60 2021.3
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Parent-Child-Based Navigation Method of Multiple Autonomous Underwater Vehicles for Ship-Free Underwater Survey
Takumi Matsuda, Yuya Hamamatsu, Kenichi Fujita, Takashi Sakamaki, Toshihiro Maki
IEEE OES Underwater Technology 21 2021.3
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高性能なAUVを核としたAUVネットワークによる水中完結型の海洋調査手法
松田匠未, 藤田健一, 濱松祐矢, 坂巻隆, 巻俊宏
海洋調査技術学会 第32回研究成果発表会 講演要旨集 22 - 23 2020.11
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Research and Education Activities under the Coronavirus Pandemic
Takumi Matsuda
IEEE Oceanic Engineering Society Newsletter 9 ( 3 ) 14 - 15 2020.9
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複数の自律型海中ロボットの連携による水中完結型の海洋調査手法 Invited
松田匠未, 巻俊宏, 坂巻隆
海洋調査技術学会 第31回研究成果発表会 講演要旨集 18 - 19 2019.11
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海中ロボットの活用「AUVのドッキングシステム」 Invited
松田匠未
2019年度 港湾及び海洋土木技術者のためのROV等水中機器類技術講習会 2019.11
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海底環境の同時多点計測に向けた自律型海中ロボット群による協調測位手法
松田匠未, 坂巻隆, 巻俊宏
第37回日本ロボット学会学術講演会 予稿集 1 - 2 2019.9
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Underwater Robot Convention in JAMSTEC 2019
Takumi Matsuda
IEEE Oceanic Engineering Society Newsletter 8 ( 3 ) 57 - 61 2019.9
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AUV長期実海域運用に向けた位置と負荷変動にロバストな非接触充電装置の開発
増田殊大, 松田匠未, 巻俊宏
ロボティクス・メカトロニクス講演会’19 講演論文集 1 - 3 2019.6
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高性能AUVを核としたAUV群の測位手法 -海底熱水地帯における複数AUVの展開-
松田匠未, 巻俊宏, 坂巻隆
第36回日本ロボット学会学術講演会 予稿集 1 - 4 2018.9
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海流に正対する方位制御手法および着底の安定性判定手法の開発 -ホバリング型AUV の安定した着底を目指して-
松田匠未, 瀧澤亮太, 坂巻隆, 巻俊宏
ロボティクス・メカトロニクス講演会’18 講演論文集 1 - 4 2018.6
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AUV向け海中非接触充電装置の開発及び海域試験
増田殊大, 巻俊宏, 松田匠未
ロボティクス・メカトロニクス講演会’18 講演論文集 1 - 4 2018.6
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AUV “Minty Roll” and results of “Underwater Robot Convention 2017 in JAMSTEC”
Hiroumi Horimoto, Takayuki Nishimura, Takumi Matsuda
IEEE Oceanic Engineering Society Newsletter 6 ( 4 ) 77 - 79 2017.12
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複数の自律型海中ロボット(AUV)による海底広域探査 -高性能AUVを核としたAUV群の測位手法-
松田匠未, 巻俊宏, 坂巻隆
第35回日本ロボット学会学術講演会 予稿集 1 - 4 2017.9
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自律型海中ロボットの全自動着底手法 -姿勢評価に基づく安定性評価-
瀧澤亮太, 松田匠未, 坂巻隆, 巻俊宏
第35回日本ロボット学会学術講演会 予稿集 1 - 4 2017.9
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Navigation Method for AUVs to Move between Seafloor Stations
ITO Takaaki, MATSUDA Takumi, MAKI Toshihiro
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2017 1 - 4 2017.5
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Ocean Bottom Gravity Measurement Using a Landing AUV
Atsushi Oshida, Toshihiro Maki, Takumi Matsuda, Shigeo Okuma, Masao Komazawa, Toi Tachibana, Ryuji Kubota
JpGU-AGU Joint Meeting 2017 2017.5
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AUV “Minty Roll” in Underwater Robot Conventions
Takaaki Ito, Ryota Takizawa, Yukiyasu Noguchi, Yuto Mori, Soichi Yoshino, Takumi Matsuda
IEEE Oceanic Engineering Society Newsletter 5 ( 4 ) 56 - 57 2016.12
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AUV “Minty Roll” Low-cost and User-friendly AUV for Underwater Robot Convention
Takaaki Ito, Ryota Takizawa, Yukiyasu Noguchi, Yuto Mori, Soichi Yoshino, Takumi Matsuda
IEEE Oceanic Engineering Society Newsletter 5 ( 3 ) 34 - 35 2016.9
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環境変化にロバストなホバリング型AUVのドッキング手法
岡田宣義, 松田匠未, 佐藤芳紀, 水島隼人, 坂巻隆, 巻俊宏
ロボティクス・メカトロニクス講演会’16 講演論文集 1 - 4 2016.6
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海底ステーションを基地とするホバリング型AUVの展開手法 -海底環境の長期モニタリングに向けて-
巻俊宏, 佐藤芳紀, 水島隼人, 松田匠未, 増田殊大, 岡田宣義, 坂巻隆
ロボティクス・メカトロニクス講演会’16 講演論文集 1 - 4 2016.6
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Realizing Multiple AUVs Operation
Takumi Matsuda
IEEE Oceanic Engineering Society Newsletter 4 ( 4 ) 22 - 23 2015.12
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Underwater Robot Convention in Japan
Takumi Matsuda, Kenichi Asakawa, Toshihiro Maki
IEEE Oceanic Engineering Society Newsletter 4 ( 4 ) 14 - 17 2015.12
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21 ( 21 ) 359 - 363 2015.11
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複数の自律型海中ロボットの状態推定手法 －海中広域ナビゲーションに向けて－
松田匠未, 巻俊宏, 坂巻隆, 浦環
第31回日本ロボット学会学術講演会 予稿集 1 - 4 2013.9
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複雑な海底環境の画像観測用 AUV「Tri-TON」の開発
巻俊宏, 松田匠未, 久米絢佳, 佐藤 芳紀, 坂巻隆, 浦環
第23回海洋工学シンポジウム 講演論文集 1 - 7 2012.8
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相互音響測位手法の開発―海底ステーションを基準とする自律型海中ロボットの熱水域詳細観測―
松田匠未, 巻俊宏, 坂巻隆, 浦環
第23回海洋工学シンポジウム 講演論文集 1 - 8 2012.8
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海底熱水地帯の3次元画像マッピングシステムの開発
巻俊宏, 松田匠未, 小島淳一, 浦環
第22回海洋工学シンポジウム 講演論文集 1 - 5 2011.3
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海底ステーションとホバリング型AUVによる海底環境の広域画像化システム
巻俊宏, 松田匠未, 小島淳一, 浦環
海洋調査技術学会 第22回研究成果発表会 講演要旨集 32 - 33 2010.11
Awards
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第37回研究奨励賞
2022.9 日本ロボット学会
松田 匠未
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海のフロンティアを拓く岡村健二賞
2021.12 テクノオーシャン・ネットワーク
松田 匠未
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2020年度 長谷川久夫賞 研究成果優秀賞
2021.4 明治大学 長谷川久夫基金運営委員会 Parent-Child-Based Navigation Method of Multiple Autonomous Underwater Vehicles for Ship-Free Underwater Survey
松田 匠未
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Young Researcher Prize (Research Presentation)
2021.3 IEEE OES Underwater Technology 21
Takumi Matsuda
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第32回研究成果発表会 若手優秀発表賞
2020.11 海洋調査技術学会
松田 匠未
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IEEE OES Japan Chapter Young Researcher Award 2014
2014.10
松田 匠未
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MTS/IEEE OCEANS 2011 KONA Student Poster Program Second Place Awards
2011.9
Takumi Matsuda
Research Projects
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自律型海中ロボットシステムで拓く氷下の多元観測
Grant number：24H02343 2024.4 - 2029.3
日本学術振興会 科学研究費助成事業 学術変革領域研究(A)
巻 俊宏, 松田 匠未, 吉田 弘, 高橋 朋子, 沖野 郷子, 野木 義史, 田村 岳史
Grant amount：\167050000 （ Direct Cost: \128500000 、 Indirect Cost：\38550000 ）
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広域海洋観測を実現する自律型海中ロボット群による同時多点測位手法の開発
2023.9 - 2025.8
日揮・実吉奨学会 2023年度研究助成
松田 匠未
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迅速な港湾点検を実現するUAVとAUVの連携探査手法
2022.4 - 2023.3
一般財団法人港湾空港総合技術センター 令和4年度研究開発助成
松田 匠未
Authorship：Principal investigator
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Seeing through the sea floor: Development of a basis for evaluation of spatio-temporal environmental dynamics in seafloor surface sediments using acoustic technology
Grant number：20KK0238 2020.10 - 2025.3
Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research Fund for the Promotion of Joint International Research (Fostering Joint International Research (B)) Fund for the Promotion of Joint International Research (Fostering Joint International Research (B))
Authorship：Coinvestigator(s)
Grant amount：\18720000 （ Direct Cost: \14400000 、 Indirect Cost：\4320000 ）
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Grant number：18H01632 2018.4 - 2021.3
Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B) Grant-in-Aid for Scientific Research (B)
Matsuda Takumi
Authorship：Principal investigator
Grant amount：\17940000 （ Direct Cost: \13800000 、 Indirect Cost：\4140000 ）
In this study, we proposed and developed a cooperative survey method of multiple autonomous underwater vehicles (AUVs) to realize a low-cost, highly accurate, and highly efficient seafloor survey system. The AUVs consist of one high-performance AUV (parent AUV) and a group of simple AUVs (child AUVs). The AUVs can realize highly accurate positioning and cooperative observation in real-time by using an acoustic network centered on the parent AUV. Thanks to this research, a new self-complete survey method based on the AUV network was established, and we contributed to the expansion of human ocean survey capabilities.
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Realization of Cooperative Survey by Multiple AUVs Based on On-site Adaptive Observation Routes
Grant number：16K18317 2016.4 - 2018.3
Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research Grant-in-Aid for Young Scientists (B) Grant-in-Aid for Young Scientists (B)
Matsuda Takumi
Authorship：Principal investigator
Grant amount：\4160000 （ Direct Cost: \3200000 、 Indirect Cost：\960000 ）
This work proposed and developed a cooperative survey method by multiple autonomous underwater vehicles (AUVs) to visualize unknown seafloor environments efficiently and accurately. A method for detecting objects of interested based on an acoustic bathymetry map, and a method for generating routes to observe only detected targets using optical sensors in detail and accurately were developed. The methods were implemented in 2 AUVs and verified through tank tests. In addition, cooperative survey with 3 AUVs was conducted in sea environments and the performance of the system was verified. The proposed method contributes to many fields such as resource survey and rescue, as well as science areas like biology and geology.
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Grant number：12J06829 2012.4 - 2015.3
日本学術振興会 科学研究費助成事業 特別研究員奨励費 特別研究員奨励費
松田 匠未
Authorship：Principal investigator
Grant amount：\2700000 （ Direct Cost: \2700000 ）
本研究では複数の自律型海中ロボット(AUV: Autonomous Underwater Vehicle)の連携による海底観測手法の開発を進めている．全自動観測のために，AUVは自己位置を正確に推定することが必要となる．本研究では複数のAUVを展開し，そのうちの一台が海底に着底し測位の基地局となることを交互に実施することで，AUVのみで正確な位置推定および広域にわたる海底観測を実現する．本年度に開発した項目を以下に示す．
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1) 着底装置の改良と海域試験：AUVが安定して海底に着底するために，海底付近において全自動で浮力を調整する装置の開発を行った．昨年度まで基本が完成し，今年度は改良および実海域での試験を行った．これまで浮力調整のための制御信号を逐一AUVから送っていたが，信号の流れをプログラム化したマイクロコンピュータを装置内部に搭載し，改良を行った．これによりAUVのプログラムを簡略化した．改良した装置をAUVに搭載し，水深30～40mの海域にて，多数回にわたって浮力（2kg/min）を全自動で調整することに成功した．
2) 提案手法の実証試験：昨年度を含めて，移動AUVの位置推定手法，推定情報の共有手法，行動制御手法の定式化と検証を進めてきた．そして二台のAUV “Tri-Dog 1”と“Tri-TON 1”に手法を実装し，水槽試験，実海域試験（水深30～40m）を実施した．結果，基地局を多数回交代することに成功し(水槽試験：13回，実海域試験：5回)，200mの距離を全自動で航行することに成功した．位置推定誤差も1m以内に抑えられることを示し，定量的に手法の有効性を実証した．合わせて海底の映像や水温，塩分濃度の分布を取得することに成功し，新たな海底探査手法として有用性を示す成果が得られた．
3) 手法の拡張性検証：実海域での試験結果をもとに，さらに多くのAUVを展開した場合の手法の拡張性と地形が複雑な海域での手法の適用可能性について，シミュレーションを通じて幅広く検証した．
Media Coverage
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ドローンが海中・海底探査の母船に？ ～ 高効率な海中・海底観測のための新しい海面基地としてのUAV ～ Internet
明治大学 プレスリリース 2021.10
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ドローンが海中・海底探査の母船に？ ～ 高効率な海中・海底観測のための新しい海面基地としてのUAV ～ Internet
東京大学 プレスリリース 2021.10
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東大と明大、無人航空機が沿岸域の海中・海底調査の海面基地として大きな利点を持つことを発表 Internet
日本経済新聞 2021.10
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未来の起源（研究者・ドッキングシステム紹介）
TBS 2019.3
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海中ロボ実証試験 ステーションにドッキングし充電 平塚新港
毎日新聞（神奈川版） 2018.1
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水中ロボットで海をパトロール
広報ひらつか No.1084 2017.8
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