arXiv subjects

Shohei Kobayashi

Publications and source records attributed to Shohei Kobayashi.

2 recordsLinked to original sources

arXiv2026

Distributed Algorithm with Emergent Area Partitioning and Base Station's Situation Awareness for Multi-Robot Patrolling

Patrolling with multiple robots offers efficient surveillance to detect and manage undesired situations. This necessitates improved patrol efficiency and operator situation awareness at base stations. Enhanced situation awareness enables operators to predict robots' behaviors, support recognition and decision-making, and execute emergency interventions. This study presents the Local Reactive and Partition (LR-PT) algorithm, a novel multi-robot patrolling approach. In simulations, LR-PT outperformed existing methods by ensuring frequent patrols of all locations of interest and enhancing the situation awareness of the base station. Robots independently select patrol targets based on locally available information, integrating patrol needs and the urgency of reporting mission progress to the base station into a unified utility function. This locality also contributes to robustness against communication constraints and robot failures, as demonstrated in this research. The algorithm further autonomously emerged the area partition, which can avoid falling into local optima and realize the comprehensive patrol over the whole mission area. The simulation results demonstrated the superior performance of LR-PT for multi-robot patrolling, utilizing the advantages of swarm robotics and addressing real-world operational challenges.

cs.RO↗

arXiv2022

Thermal Control System to Easily Cool the GAPS Balloon-borne Instrument on the Ground

This study developed a novel thermal control system to cool detectors of the General AntiParticle Spectrometer (GAPS) before its flights. GAPS is a balloon-borne cosmic-ray observation experiment. In its payload, GAPS contains over 1000 silicon detectors that must be cooled below $-40^{\circ}\mbox{C}$. All detectors are thermally coupled to a unique heat-pipe system (HPS) that transfers heat from the detectors to a radiator. The radiator is designed to be cooled below $-50^{\circ}\mbox{C}$ during the flight by exposure to space. The pre-flight state of the detectors is checked on the ground at 1 atm and ambient room temperature, but the radiator cannot be similarly cooled. The authors have developed a ground cooling system (GCS) to chill the detectors for ground testing. The GCS consists of a cold plate, a chiller, and insulating foam. The cold plate is designed to be attached to the radiator and cooled by a coolant pumped by the chiller. The payload configuration, including the HPS, can be the same as that of the flight. The GCS design was validated by thermal tests using a scale model. The GCS design is simple and provides a practical guideline, including a simple estimation of appropriate thermal insulation thickness, which can be easily adapted to other applications.

astro-ph.IM↗