Control system, control method, and program

A control method performed by circuitry of a control apparatus, comprising:

• acquiring a manipulation of a user;
• performing control to cause a mobile apparatus having a camera to photograph at least a part of a sheet where images indicating coordinates are arranged to travel on the sheet according to the manipulation of the user;
• detecting a position of the mobile apparatus on a basis of an image photographed by the camera included in the mobile apparatus;
• determining, on a basis of the position detection of the mobile apparatus, whether or not the mobile apparatus has moved as estimated on a basis of the manipulation of the user;
• performing a predetermined procedure in a case where the mobile apparatus is determined not move as estimated;
• and
• controlling another mobile apparatus according to a virtual route defined by virtual markers stored in the circuitry of the control apparatus,
• wherein
• the method further includes determining, on a basis of the position detected, whether or not the mobile apparatus has moved as estimated on the basis of the manipulation of the user,
• the mobile apparatus further includes a sensor to detect whether or not the mobile apparatus has collided with another object, and
• the method further includes:
• determining, on a basis of output of the sensor, whether or not the mobile apparatus has collided with the another object,
• performing a predetermined procedure in a case the mobile apparatus is determined not move as estimated and that the mobile apparatus has collided with the another object,
• detecting a position of the another mobile apparatus on a basis of an image photographed by the camera included in the another mobile apparatus,
• determining, on a basis of the position of the mobile apparatus manipulated by the user and the position of the another mobile apparatus, whether or not the mobile apparatus and the another mobile apparatus are in proximity to each other,
• performing a first procedure in a case where it is determined that the mobile apparatus does not move as estimated, that the mobile apparatus has collided with the another object, and that the mobile apparatus and the another mobile apparatus are in proximity to each other, and
• performing a second procedure different from the first procedure in a case where it is determined that the mobile apparatus does not move as estimated, that the mobile apparatus has collided with the another object, and that the mobile apparatus and the another object are not in proximity to each other.

A non-transitory computer-readable medium storing a program that, when executed by circuitry of a control apparatus, causes the circuitry of the control apparatus to perform a method comprising:

• acquiring a manipulation of a user;
• performing control to cause a mobile apparatus having a camera for photographing part of a sheet where images indicating coordinates are arranged to travel on the sheet according to the manipulation of the user;
• controlling detection of a position of the mobile apparatus based on an image photographed by the camera included in the mobile apparatus;
• determining, on a basis of the position detection, whether or not the mobile apparatus has moved as estimated on a basis of the manipulation of the user;
• performing a predetermined procedure in a case where the mobile apparatus is determined not move as estimated;
• and
• controlling another mobile apparatus according to a virtual route defined by virtual markers stored in the circuitry of the control apparatus,
• wherein
• the method further includes determining, on a basis of the position detected, whether or not the mobile apparatus has moved as estimated on the basis of the manipulation of the user,
• the mobile apparatus further includes a sensor to detect whether or not the mobile apparatus has collided with another object, and
• the method further includes:
• determining, on a basis of output of the sensor, whether or not the mobile apparatus has collided with the another object,
• performing a predetermined procedure in a case the mobile apparatus is determined not move as estimated and that the mobile apparatus has collided with the another object,
• detecting a position of the another mobile apparatus on a basis of an image photographed by the camera included in the another mobile apparatus,
• determining, on a basis of the position of the mobile apparatus manipulated by the user and the position of the another mobile apparatus, whether or not the mobile apparatus and the another mobile apparatus are in proximity to each other,
• performing a first procedure in a case where it is determined that the mobile apparatus does not move as estimated, that the mobile apparatus has collided with the another object, and that the mobile apparatus and the another mobile apparatus are in proximity to each other, and
• performing a second procedure different from the first procedure in a case where it is determined that the mobile apparatus does not move as estimated, that the mobile apparatus has collided with the another object, and that the mobile apparatus and the another object are not in proximity to each other.

A control system comprising:

• a first apparatus and a second apparatus, each configured to travel on a sheet where images indicating coordinates are arranged and each having a camera to photograph part of the sheet;
• and
• a control apparatus including circuitry configured to:
• acquire a manipulation of a user,
• perform control to cause the first apparatus to travel according to the manipulation of the user,
• detect a position of the first apparatus on a basis of an image photographed by the camera included in the first apparatus and detect a position of the second apparatus on a basis of an image photographed by the camera included in the second apparatus,
• control the second apparatus to travel alone a virtual route defined by virtual markers stored in the circuitry of the control apparatus,
• decide a destination of the second apparatus on a basis of the position of the first apparatus and the position of the second apparatus, and adjust the travel of the second apparatus alone the virtual route on a basis of the decided destination, and
• determine, on a basis of the position detected, whether or not the first apparatus has moved as estimated on the basis of the manipulation of the user,
• wherein
• the first apparatus further includes a sensor to detect whether or not the first apparatus has collided with another object,
• the circuitry determines, on a basis of output of the sensor, whether or not the first apparatus has collided with the another object,
• the circuitry performs a predetermined procedure in a case the first apparatus is determined not move as estimated and that the first apparatus has collided with the another object,
• the circuitry detects a position of the second mobile apparatus on a basis of an image photographed by the camera included in the second mobile apparatus, and
• the circuitry
• determines, on a basis of the position of the first apparatus manipulated by the user and the position of the second mobile apparatus, whether or not the first apparatus and the second mobile apparatus are in proximity to each other,
• performs a first procedure in a case where it is determined that the first apparatus does not move as estimated, that the first apparatus has collided with the another object, and that the first apparatus and the second mobile apparatus are in proximity to each other, and
• performs a second procedure different from the first procedure in a case where it is determined that the first apparatus does not move as estimated, that the first apparatus has collided with the another object, and that the second apparatus and the another object apparatus are not in proximity to each other.