Information processing apparatus, information processing method, and program for performing route planning to satisfy a contraint based on a task complexity tolerance map

1 . An information processing apparatus comprising:

processing circuitry configured to

acquire a monitoring result of a communication state of each of a plurality of mobile bodies;

calculate allowable complexity of a conveyance task as task complexity tolerance at times and points of an operation space based on the monitoring result, the task complexity tolerance being a numerical value;

generate a task complexity tolerance map indicating a distribution of the task complexity tolerance, the task complexity tolerance map including a first level indicating a tolerance at which the plurality of mobile bodies are permitted to cooperate for the conveyance task, a second level indicating a tolerance at which the plurality of mobile bodies are prohibited from cooperating and permitted to pass each other, and a third level indicating a tolerance at which only one mobile body is permitted to be present in an area of the operation space and the plurality of mobile bodies are prohibited from passing each other;

perform route planning for the plurality of mobile bodies to satisfy the first level, the second level, and the third level as a constraint based on the task complexity tolerance map;

generate planned routes for the plurality of mobile bodies based on the route planning; and

control the plurality of mobile bodies to travel along the planned routes while satisfying the constraint.

2 . The information processing apparatus according to claim 1 , wherein the processing circuitry is further configured to perform the route planning such that, in an area determined based on the task complexity tolerance map, conflict of the plurality of mobile bodies exceeding a capacity of the area does not occur.

3 . The information processing apparatus according to claim 2 , wherein the capacity of the area is one.

4 . The information processing apparatus according to claim 2 , wherein the processing circuitry is further configured to:

specify a range in which the task complexity tolerance does not satisfy a tolerance standards; and

a set a plurality of graph elements, including nodes and edges, present within the range as the area.

5 . The information processing apparatus according to claim 2 , wherein the processing circuitry is further configured to avoid the conflict in the area by adjusting an order of carrying out a plurality of conveyance tasks accumulated in a task queue.

6 . The information processing apparatus according to claim 2 , wherein the processing circuitry is further configured to avoid the conflict in the area by adjusting a moving speed of one or more of the plurality of mobile bodies traveling to the area.

7 . The information processing apparatus according to claim 6 , wherein the processing circuitry is further configured to process adjustment of the moving speed as adjustment of a moving cost.

8 . The information processing apparatus according to claim 2 , wherein the processing circuitry is further configured to avoid the conflict in the area by adjusting a period for carrying out the conveyance task.

9 . The information processing apparatus according to claim 2 , wherein the processing circuitry is further configured to allocate, to a mobile body of the plurality of mobile bodies having a relay function for a radio wave, the conveyance task at a position where the radio wave can be relayed to the area.

10 . An information processing method executed by a computer, the information processing method comprising:

acquiring a monitoring result of a communication state of each of a plurality of mobile bodies;

calculating allowable complexity of a conveyance task as task complexity tolerance at times and points of an operation space based on the monitoring result, the task complexity tolerance being a numerical value;

generating a task complexity tolerance map indicating a distribution of the task complexity tolerance, the task complexity tolerance map including a first level indicating a tolerance at which the plurality of mobile bodies are permitted to cooperate for the conveyance task, a second level indicating a tolerance at which the plurality of mobile bodies are prohibited from cooperating and permitted to pass each other, and a third level indicating a tolerance at which only one mobile body is permitted to be present in an area of the operation space and the plurality of mobile bodies are prohibited from passing each other;

performing route planning for the plurality of mobile bodies to satisfy the first level, the second level, and the third level as a constraint based on the task complexity tolerance map;

generating planned routes for the plurality of mobile bodies based on the route planning; and

controlling the plurality of mobile bodies to travel along the planned routes while satisfying the constraint.

11 . A non-transitory computer readable medium storing a program which when executed causes a computer to perform a method, the method comprising:

acquiring a monitoring result of a communication state of each of a plurality of mobile bodies;

calculating allowable complexity of a conveyance task as task complexity tolerance at times and points of an operation space based on the monitoring result, the task complexity tolerance being a numerical value;

generating a task complexity tolerance map indicating a distribution of the task complexity tolerance, the task complexity tolerance map including a first level indicating a tolerance at which the plurality of mobile bodies are permitted to cooperate for the conveyance task, a second level indicating a tolerance at which the plurality of mobile bodies are prohibited from cooperating and permitted to pass each other, and a third level indicating a tolerance at which only one mobile body is permitted to be present in an area of the operation space and the plurality of mobile bodies are prohibited from passing each other;

performing route planning for the plurality of mobile bodies to satisfy the first level, the second level, and the third level as a constraint based on the task complexity tolerance map;

generating planned routes for the plurality of mobile bodies based on the route planning; and

controlling the plurality of mobile bodies to travel along the planned routes while satisfying the constraint.

12 . The information processing apparatus according to claim 1 , wherein the monitoring result of the communication state includes at least one of a noise floor or a number of times of communication retransmissions.

13 . The information processing apparatus according to claim 1 , wherein the processing circuitry is further configured to calculate the task complexity tolerance using a hyperbolic tangent function applied to a radio wave intensity and a number of communication errors.

14 . The information processing apparatus according to claim 1 , wherein the cooperation for the conveyance task permitted at the first level includes a transfer of a conveyance object between the plurality of mobile bodies.

15 . The information processing apparatus according to claim 1 , wherein the processing circuitry is further configured to perform the route planning using a Conflict-Based Search (CBS) algorithm to determine a set of routes for the plurality of mobile bodies without conflict.

16 . The information processing apparatus according to claim 1 , wherein the processing circuitry is further configured to decompose the conveyance task into a movement task, a loading task, and an unloading task.

17 . The information processing apparatus according to claim 1 , wherein the processing circuitry is further configured to determine a temporary stop position for one of the plurality of mobile bodies before the one of the plurality of mobile bodies enters the area of the operation space where the task complexity tolerance is at the third level.

18 . The information processing apparatus according to claim 1 , wherein the processing circuitry is further configured to, upon a new moving destination being added for one of the plurality of mobile bodies, perform a review of existing route plans for other mobile bodies of the plurality of mobile bodies currently in operation to satisfy the constraint.

19 . The information processing apparatus according to claim 1 , wherein the processing circuitry is further configured to calculate the task complexity tolerance based on an estimated command frequency per second that can be transmitted to the plurality of mobile bodies, and

the third level corresponds to an estimated command frequency of less than one per second.

20 . The information processing apparatus according to claim 19 , wherein the first level corresponds to an estimated command frequency of 50 or larger per second.