Controller, control method, and program

1. An information processing apparatus comprising: circuitry configured to:

generate a map specification based on a behavior objective of a mobility device or a state of the mobility device; and

create, based on the generated map specification, an outside map of an environment external to the mobility device that satisfies the generated map specification,

wherein the map specification includes a size of a region of the outside map and a resolution of the outside map, and

wherein the circuitry is further configured to:

generate, based on the state of the mobility device being a first level, the map specification including the size or the resolution of the region of the outside map to be a second level; and

generate, based on the state of the mobility device being a third level different than the first level, the map specification including the size or the resolution of the region of the outside map to be a fourth level different than the second level.

2. The information processing apparatus of claim 1 , wherein the behavior objective includes a movement destination of the mobility device.

3. The information processing apparatus of claim 1 , wherein the state of the mobility device includes a position state, a motion state, a battery state, or a failure state of the mobility device.

4. The information processing apparatus of claim 1 , wherein the circuitry is further configured to:

create a behavior plan based on the outside map to achieve the behavior objective.

5. The information processing apparatus of claim 4 , wherein the behavior plan controls a movement of the mobility device.

6. The information processing apparatus of claim 4 , wherein the behavior objective includes a movement destination of the mobility device, and

wherein the behavior plan includes a shortest path from a position of the mobility device to the movement destination.

7. The information processing apparatus of claim 1 , wherein the behavior objective includes a movement destination of the mobility device, and

wherein the resolution of the outside map is specified based on an accuracy of the movement destination.

8. The information processing apparatus of claim 1 , wherein the resolution of the outside map varies in parallel with an altitude direction.

9. The information processing apparatus of claim 1 , wherein the mobility device is a mobile robot.

10. The information processing apparatus of claim 1 , wherein the mobility device is a flight vehicle.

11. The information processing apparatus of claim 1 , wherein the circuitry is further configured to:

acquire a previous outside map;

determine whether the previous outside map satisfies the map specification; and

create the outside map based on a determination that the previous outside map does not satisfy the map specification.

12. The information processing apparatus of claim 11 , wherein the circuitry is further configured to:

create a behavior plan based on the previous outside map to achieve the behavior objective, based on a determination that the previous outside map satisfies the map specification.

13. The information processing apparatus of claim 11 , wherein the circuitry is further configured to:

acquire outside information;

create, based on the outside information, a first local map that satisfies the map specification;

create, based on the previous outside map, a second local map that satisfies the map specification; and

combine the first local map and the second local map to create the outside map.

14. The information processing apparatus of claim 13 , wherein the circuitry is further configured to:

create an inner map based on the map specification;

determine which regions of the first local map and the second local map correspond to respective regions in the inner map; and

create the outside map by overlapping the first local map and the second local map based on the determination.

15. The information processing apparatus of claim 14 , wherein the inner map is blank and including a region and a resolution that are specified by the map specification.

16. An information processing apparatus comprising:

circuitry configured to:

generate a map specification based on a behavior objective of a mobility device or a state of the mobility device; and

create, based on the generated map specification, an outside map of an environment external to the mobility device that satisfies the generated map specification,

wherein the map specification includes a size of a region of the outside map and a resolution of the outside map,

wherein the state of the mobility device includes a speed of the mobility device, and

wherein the circuitry is further configured to:

generate, when the speed of the mobility device is a first level, the map specification including the size of the region of the outside map to be a second level; and

generate, when the speed of the mobility device is a third level higher than the first level, the map specification including the size of the region of the outside map to be a fourth level higher than the second level.

17. An information processing apparatus comprising:

circuitry configured to:

generate a map specification based on a behavior objective of a mobility device or a state of the mobility device; and

create, based on the generated map specification, an outside map of an environment external to the mobility device that satisfies the generated map specification,

wherein the map specification includes a size of a region of the outside map and a resolution of the outside map,

wherein the state of the mobility device includes a speed of the mobility device, and

wherein the circuitry is further configured to:

generate, when the speed of the mobility device is a first level, the map specification including the resolution of the outside map to be a second level; and

generate, when the speed of the mobility device is a third level higher than the first level, the map specification including the resolution of the outside map to be a fourth level lower than the second level.

18. An information processing method comprising:

generating a map specification based on a behavior objective of a mobility device or a state of the mobility device;

creating, based on the generated map specification, an outside map of an environment external to the mobility device that satisfies the generated map specification,

wherein the map specification includes a size of a region of the outside map and a resolution of the outside map;

generating, based on the state of the mobility device being a first level, the map specification including the size or the resolution of the region of the outside map to be a second level; and

generating, based on the state of the mobility device being a third level different than the first level, the map specification including the size or the resolution of the region of the outside map to be a fourth level different than the second level.

19. A non-transitory computer-readable recoding medium having embodied thereon a program, which when executed by a computer causes the computer to execute a method, the method comprising:

generating a map specification based on a behavior objective of a mobility device or a state of the mobility device;

creating, based on the generated map specification, an outside map of an environment external to the mobility device that satisfies the generated map specification,

wherein the map specification includes a size of a region of the outside map and a resolution of the outside map;

generating, based on the state of the mobility device being a first level, the map specification including the size or the resolution of the region of the outside map to be a second level; and

generating, based on the state of the mobility device being a third level different than the first level, the map specification including the size or the resolution of the region of the outside map to be a fourth level different than the second level.