{"@context":{"@vocab":"https://cir.nii.ac.jp/schema/1.0/","rdfs":"http://www.w3.org/2000/01/rdf-schema#","dc":"http://purl.org/dc/elements/1.1/","dcterms":"http://purl.org/dc/terms/","foaf":"http://xmlns.com/foaf/0.1/","prism":"http://prismstandard.org/namespaces/basic/2.0/","cinii":"http://ci.nii.ac.jp/ns/1.0/","datacite":"https://schema.datacite.org/meta/kernel-4/","ndl":"http://ndl.go.jp/dcndl/terms/","jpcoar":"https://github.com/JPCOAR/schema/blob/master/2.0/"},"@id":"https://cir.nii.ac.jp/crid/1390584099502408704.json","@type":"Article","productIdentifier":[{"identifier":{"@type":"DOI","@value":"10.1299/jsmermd.2024.2a1-b05"}},{"identifier":{"@type":"URI","@value":"https://www.jstage.jst.go.jp/article/jsmermd/2024/0/2024_2A1-B05/_pdf"}}],"dc:title":[{"@language":"en","@value":"ROS2-TMS for Construction: CPS platform for earthwork sites"},{"@language":"ja","@value":"土工現場用CPSプラットフォームROS2-TMS for Constructionの開発"}],"dcterms:alternative":[{"@language":"en","@value":"-Implementation of Task Management Mechanisms-"},{"@language":"ja","@value":"-第3報タスク管理機構の実装-"}],"dc:language":"ja","description":[{"type":"abstract","notation":[{"@language":"en","@value":"<p>In recent years, the shortage of human resources at earthwork sites has been accelerating due to industrial accidents and the declining birthrate and aging population. Against this background, Our lab is developing a CPS platform called ”ROS2-TMS for Construction” as a system that simultaneously improves the efficiency and safety of earthwork work. This paper introduces a newly developed task management mechanism as a continuation of the ROS2-TMS for Construction development. The task management mechanism is a mechanism for operating actual construction machinery based on scenarios called task sequences given to ROS2-TMS for Construction.In this time, I adopted the Behavior Tree as the task scheduler and incorporated it into ROS2-TMS for Construction with some extensions according to the ROS2 specification. An overview of the extensions of Behavior Tree we adopted to task management mechanism of ROS2-TMS for Construction will also be explained in this paper.</p>"}],"abstractLicenseFlag":"disallow"}],"creator":[{"@id":"https://cir.nii.ac.jp/crid/1410584099502408708","@type":"Researcher","foaf:name":[{"@language":"en","@value":"KASAHARA Yuichiro"},{"@language":"ja","@value":"笠原 侑一郎"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Kyushu University"},{"@language":"ja","@value":"九州大学"}]},{"@id":"https://cir.nii.ac.jp/crid/1410584099502408714","@type":"Researcher","foaf:name":[{"@language":"en","@value":"SHIBATA Koshi"},{"@language":"ja","@value":"柴田 航志"}],"jpcoar:affiliationName":[{"@language":"ja","@value":"九州大学"},{"@language":"en","@value":"Kyushu University"}]},{"@id":"https://cir.nii.ac.jp/crid/1410584099502408715","@type":"Researcher","foaf:name":[{"@language":"en","@value":"ITSUKA Tomoya"},{"@language":"ja","@value":"井塚 智也"}],"jpcoar:affiliationName":[{"@language":"ja","@value":"九州大学"},{"@language":"en","@value":"Kyushu University"}]},{"@id":"https://cir.nii.ac.jp/crid/1410584099502408705","@type":"Researcher","foaf:name":[{"@language":"en","@value":"MAEDA Ryuichi"},{"@language":"ja","@value":"前田 龍一"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Kyushu University"},{"@language":"ja","@value":"九州大学"}]},{"@id":"https://cir.nii.ac.jp/crid/1410584099502408716","@type":"Researcher","foaf:name":[{"@language":"en","@value":"MATSUMOTO Kohei"},{"@language":"ja","@value":"松本 耕平"}],"jpcoar:affiliationName":[{"@language":"ja","@value":"九州大学"},{"@language":"en","@value":"Kyushu University"}]},{"@id":"https://cir.nii.ac.jp/crid/1410584099502408710","@type":"Researcher","foaf:name":[{"@language":"en","@value":"KOUNO Tomoya"},{"@language":"ja","@value":"高野 智也"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Kyushu University"},{"@language":"ja","@value":"九州大学"}]},{"@id":"https://cir.nii.ac.jp/crid/1410584099502408713","@type":"Researcher","foaf:name":[{"@language":"en","@value":"KIMURA Shunsuke"},{"@language":"ja","@value":"木村 駿介"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Shimizu Corporation"},{"@language":"ja","@value":"清水建設"}]},{"@id":"https://cir.nii.ac.jp/crid/1410584099502408707","@type":"Researcher","foaf:name":[{"@language":"en","@value":"FUKASE Yutaro"},{"@language":"ja","@value":"深瀬 勇太郎"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Shimizu Corporation"},{"@language":"ja","@value":"清水建設"}]},{"@id":"https://cir.nii.ac.jp/crid/1410584099502408711","@type":"Researcher","foaf:name":[{"@language":"en","@value":"YOKOSHIMA Takashi"},{"@language":"ja","@value":"横島 喬"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Shimizu Corporation"},{"@language":"ja","@value":"清水建設"}]},{"@id":"https://cir.nii.ac.jp/crid/1410584099502408712","@type":"Researcher","foaf:name":[{"@language":"en","@value":"HASHIMOTO Takeshi"},{"@language":"ja","@value":"橋本 毅"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Public Works Research Institute (PWRI)"},{"@language":"ja","@value":"土木研究所"}]},{"@id":"https://cir.nii.ac.jp/crid/1410584099502408706","@type":"Researcher","foaf:name":[{"@language":"en","@value":"YAMAUCHI Genki"},{"@language":"ja","@value":"山内 元貴"}],"jpcoar:affiliationName":[{"@language":"ja","@value":"土木研究所"},{"@language":"en","@value":"Public Works Research Institute (PWRI)"}]},{"@id":"https://cir.nii.ac.jp/crid/1410584099502408709","@type":"Researcher","foaf:name":[{"@language":"en","@value":"ENDO Daisuke"},{"@language":"ja","@value":"遠藤 大輔"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Public Works Research Institute (PWRI)"},{"@language":"ja","@value":"土木研究所"}]},{"@id":"https://cir.nii.ac.jp/crid/1410584099502408704","@type":"Researcher","foaf:name":[{"@language":"en","@value":"KURAZUME Ryo"},{"@language":"ja","@value":"倉爪 亮"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Kyushu University"},{"@language":"ja","@value":"九州大学"}]}],"publication":{"publicationIdentifier":[{"@type":"EISSN","@value":"24243124"}],"prism:publicationName":[{"@language":"ja","@value":"ロボティクス・メカトロニクス講演会講演概要集"},{"@language":"en","@value":"The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)"},{"@language":"en","@value":"Robomech"}],"dc:publisher":[{"@language":"en","@value":"The Japan Society of Mechanical Engineers"},{"@language":"ja","@value":"一般社団法人 日本機械学会"}],"prism:publicationDate":"2024","prism:volume":"2024","prism:number":"0","prism:startingPage":"2A1-B05"},"reviewed":"false","jpcoar:conferenceName":"ロボティクス・メカトロニクス　講演会2024","url":[{"@id":"https://www.jstage.jst.go.jp/article/jsmermd/2024/0/2024_2A1-B05/_pdf"}],"availableAt":"2024","foaf:topic":[{"@id":"https://cir.nii.ac.jp/all?q=%E5%BB%BA%E8%A8%AD%E3%83%AD%E3%83%9C%E3%83%83%E3%83%88%E3%83%BB%E5%BB%BA%E8%A8%AD%E6%A9%9F%E6%A2%B0","dc:title":"建設ロボット・建設機械"},{"@id":"https://cir.nii.ac.jp/all?q=Robot%20Operating%20System(ROS)","dc:title":"Robot Operating System(ROS)"},{"@id":"https://cir.nii.ac.jp/all?q=Cyber%20Physical%20System","dc:title":"Cyber Physical System"}],"dataSourceIdentifier":[{"@type":"JALC","@value":"oai:japanlinkcenter.org:2013608793"},{"@type":"CROSSREF","@value":"10.1299/jsmermd.2024.2a1-b05"}]}