Coverage device, moving body, control device, and moving body distributed control program

A moving body that by being disposed in a region of responsibility where the moving body does not interfere with other moving bodies, by including a sensor with a variable monitoring range, and by exchanging position information with other moving bodies, moves so as to change the region of responsibility while avoiding a collision, the moving body comprising:

• the sensor;
• and
• a processor that is configured to, according to a predetermined prediction processing, move the moving body based on prediction results of the prediction processing predicting a state quantity, the state quantity including an uncertainty value that decreases as each target region is searched by the monitoring function of the moving body and an importance level that is estimated from the search results of other target regions of the plurality of target regions that have been searched, the determined target region being configured to maintain a predetermined level of simultaneous optimization of (i) a surveillance performance according to the uncertainty of each target region and (ii) a tracking performance according to the importance level of each target region, the predetermined level of simultaneous optimization being maintained by the uncertainty being within an acceptable level by monitoring the target area where the uncertainty exceeds the acceptable level, and, by the tracking performance increasing by continuing the monitoring, when the importance level is high, even when the uncertainty is within the acceptable level.

A control device in a moving body distributed control system that moves a plurality of moving bodies, the plurality of moving bodies, by respectively being disposed in regions of responsibility not interfering with each other, by respectively including a sensor with a variable monitoring range, and by exchanging position information with each other, moving so as to change the region of responsibility while avoiding collisions, the control device comprising:

• a memory;
• and
• a processor that is coupled with the memory, the processor being configured to:
• according to a prediction processing, designate a monitoring target of a movement destination for a first moving body based on prediction results of the prediction processing predicting a state quantity, the state quantity including an uncertainty value that decreases as each target region is searched by the monitoring function of the moving body and an importance level that is estimated from the search results of other target regions of the plurality of target regions that have been searched, the determined target region being configured to maintain a predetermined level of simultaneous optimization of (i) a surveillance performance according to the uncertainty of each target region and (ii) a tracking performance according to the importance level of each target region, the predetermined level of simultaneous optimization being maintained by the uncertainty being within an acceptable level by monitoring the target area where the uncertainty exceeds the acceptable level, and, by the tracking performance increasing by continuing the monitoring, when the importance level is high, even when the uncertainty is within the acceptable level;
• and
• move the first moving body so that a designated monitoring target falls within a monitoring range.

A non-transitory recording medium that stores a distributed control program executable by a computer to perform distributed control processing of a moving body distributed control system in which, by disposing a plurality of moving bodies in regions of responsibility not interfering with each other, by respectively including a sensor with a variable monitoring range in each of the plurality of moving bodies, and by exchanging position information and observations among the plurality of moving bodies, the plurality of moving bodies change the region of responsibility while avoiding collisions, the distributed control processing comprising:

• by a predetermined prediction processing, designating a monitoring target of a movement destination for a moving body, based on prediction results of the prediction processing predicting a state quantity, the state quantity including an uncertainty value that decreases as each target region is searched by the monitoring function of the moving body and an importance level that is estimated from the search results of other target regions of the plurality of target regions that have been searched, the determined target region being configured to maintain a predetermined level of simultaneous optimization of (i) a surveillance performance according to the uncertainty of each target region and (ii) a tracking performance according to the importance level of each target region, the predetermined level of simultaneous optimization being maintained by the uncertainty being within an acceptable level by monitoring the target area where the uncertainty exceeds the acceptable level, and, by the tracking performance increasing by continuing the monitoring, when the importance level is high, even when the uncertainty is within the acceptable level;
• and
• moving the moving body so that the designated monitoring target falls within a monitoring range.