著者
上田 隆一 新井 民夫
出版者
日本ロボット学会
雑誌
日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日
vol.25, no.1, pp.103-112, 2007-01-15 (Released:2010-08-25)
参考文献数
25
被引用文献数
2 1

We propose the real-time Q-MDP value method for decision making of a robot under uncertain state recognition. When the computation result of a control problem is known on the assumption that recognition is certain, the original Q-MDP value method decides an appropriate action based on uncertain recognition. The method is not suitable for real-time decision making due to the complexity of probability calculation. In the real-time Q-MDP value method, a particle filter that is utilized for state estimation is directly used for the probability calculation. The proposed method can make it possible to execute the Q-MDP value method in real-time. The proposed method is applied to total behavior of a goalkeeper for robot soccer competition. Experiments and actual games have suggested that this method can decide actions effectively according as uncertain result of state estimation.
著者
上田 隆一 新井 民夫 浅沼 和範 梅田 和昇 大隅 久
出版者
The Robotics Society of Japan
雑誌
日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日
vol.23, no.4, pp.466-473, 2005-05-15 (Released:2010-08-25)
参考文献数
18
被引用文献数
4 4

Though Monte Carlo localization is a popular method for mobile robot localization, it requires a method for recovery of large estimation error in itself. In this paper, a recovery method, which is named an expansion resetting method, is newly proposed. The combination of the expansion resetting method and the sensor resetting method, which is a typical resetting method, is also proposed. We then compared our methods and others in a simulated RoboCup environment. Typical accidents for mobile robots were produced in the simulator during trials. We could verify that the expansion resetting method was effective for recovery from small irregular changes of a robot's pose, and that the combination method could deal with both large and small irregular changes.
著者
上田 隆一
雑誌
情報処理
巻号頁・発行日
vol.55, no.12, pp.1320-1323, 2014-11-15

本稿では,2014年9月末に見つかったbashの脆弱性(CVE-2014-6271およびその修正の際に見つかったもの)について,脆弱性が起こる仕組み,影響が大きくなった理由,現状と今後の対応について,実際にあった攻撃の例を交えながら説明する.Shellshockと名付けられたこの脆弱性は,ある条件の下でWebサーバを通した攻撃の機会を与えること,実際にそのような攻撃が観測できること,bashがshの代用として用いられているサーバや機器で影響が大きくパッチを当てる以外の対策が困難であることを述べる.