Title:
CONTROL DEVICE, METHOD, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2023/281625
Kind Code:
A1
Abstract:
When S represent initial positions, G represent target positions, S∩G represent positions commonly included in the initial positions S and the target positions G, G-S∩G represent all of the target positions G excluding the positions S∩G commonly included in the initial positions S and the target positions G, and S-S∩G represent all of the initial positions S excluding the positions S∩G commonly included in the initial positions S and the target positions G, a first movement planning unit 1 creates a first movement plan for filling G-S∩G with first type controlled object units as second type controlled object units by moving some of the first type controlled object units at initial positions S to G-S∩G. A second movement planning unit 2 creates a second movement plan for moving each second type controlled object unit at S-S∩G to a target position G after moving each first type controlled object unit at S-S∩G to a target position G. A movement unit 3 moves controlled object units in accordance with the first movement plan and the second movement plan.
Inventors:
KAWANO HIROSHI (JP)
Application Number:
PCT/JP2021/025458
Publication Date:
January 12, 2023
Filing Date:
July 06, 2021
Export Citation:
Assignee:
NIPPON TELEGRAPH & TELEPHONE (JP)
International Classes:
G05D1/00
Foreign References:
| JP2019053709A | 2019-04-04 | |||
| US20140273730A1 | 2014-09-18 |
Attorney, Agent or Firm:
NAKAO, Naoki et al. (JP)
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