akiyama sig iamas 5 r2

Information Sharing among Mobile Robots and GIS

✘✚✙✜✛✣✢

1∗

^{✤✦✥ ✧✩★}

1

^{✪✚✫✭✬✯✮✯★}

1

Hidehisa Akiyama ¹ Hiroki Shimora ¹ Itsuki Noda ¹

1

✰✯✱✳✲✣✴✯✵✯✶✯✷✯✸✯✹ ✺✯✻✯✲✣✴✯✷✯✸✳✼✾✽

1 Information Technology Research Institute, AIST

Abstract: In this paper, we develop the information sharing system with mobile rescue robots

in confined space. We use MISP to communicate among robots, the database system and visu-

alization programs. In order to search the data effectively, we define two separated data types,

SensedDataInfo and SensedDataEntity. The experimental result shows our system can run in

realtime.

1

^{✿❁❀❃❂❅❄}

❆❈❇❊❉●❋■❍❑❏▼▲■◆P❖▼❆◗❍❙❘❯❚❲❱❨❳P❩❑❬❙❋❨❭❯❪❴❫❛❵❈❜

❝P❞❙❡❊❢P❣❊❤✐❢❦❥❈❧❙♠■♥♣♦❑qsr▼t❯✉❊♥✇✈❨❫❯①③②⑤④⑥②❛r

⑦③⑧

◆✐❱✩⑨❑⑩✦❶❦❷◗❸❑❹■❺▼❻❲❼

⑦

❵❈❜❨❝❈❞✩⑩▼❽▼❾❑❿❑➀▼❋

➁◗➂ r❲➃▼➄●➅P➆❙❫●➇◗❤⑤❡♣◆■➈❑➉❑➊❈❇✩⑩③➋➌❷❊➍✐r✦➎⑤⑩●➏

❷➑➐

⑦♣➒

❏✐①✦➇➓⑩❊❘◗➔→r❯➣▼↔s❋❯↕➙②→▲P◆■❱s⑨❑⑩❯➛✇❪✯➜

❋❛➝❴➞♣➟❑➠❈➡❑➢▼➤⑥➥✐➦⑥➧❙➐➨❋❲❵❈❜✇❝P❞✦➩→➫●❪▼➭❴❫◗➇●❤

♥■◆✦❘s➜➲➯■➳sr♣❵❈❜❨❝P❞✣❤➨➵❈➸✩r❛❩❑❬❨➺▼➻⑥➩➼➸❑➃◗➽❊❫

➇●❤ ⑦➓➾▼➚➶➪❛➹ ▲❑❏◗❫❲①✦➇♣⑩❙➘❛♠▼⑩▼❽▼❾❑❋▼❡➓◆P➴❈➷s➬

⑩❛➢❑➤⑥➥➓➦✦➧❙➐

⑦❨➮

❉✇❋❲➱❑✃➙②❦◆s❐

➹❊❒♣➹✇⑦➓❮❈❰

②→▲

❵❈❜✇❝P❞✦➩→➫✣➔➓➇●❤

⑦♣Ï❑Ð③➪⑤➹

❫P❽▼❾➓◆■Ñ▼Ò✩♠▼r❯❵❈❜

⑩❲Ó▼ÔÕ❤➲❱s⑨❑❋❲↕●➽❊❫→Ö▼×▼Ø❈Ù▼Ú

⑦♣Û

❾

⑧➌➹

❫❲①

❐✩➇➓♥❨◆■ÜÞÝß❡❈◆✇à❴❺sá✐â✩❺❑❷✩ã▼❷●ä◗å

DaRuMa

(DAtabase for Rescure Utility Management)

➩❛æ●ç

➽❊❫◗➇●❤è♥■◆✩➥➓➦✦➧❙➐

⑦♣é❑ê

②❲❽

➪Pë✇ì■ë

rPà✇❺●á▼➩

í●î→❵✐❜▼ï❈❉❛ð◗rs➎✐❤■❤❯❢⑤❋♣à▼❺▼á➼â❨❺♣❷❈❋→ñ■ò✦②ó◆ó➸

ô

⑩❲õ❴ö▼÷❨❋③➋➼ø❯ù⑥á➓úPå●❋❛û▼üÕ②⑤▲❑❏➙ý➼ã✐❷▼ä❑å✇⑩

þ❈ÿ➶➩→➫✦❣❯▲❑❏◗❫❲①■❧✁◗♥●❡♣◆✄✂s❋❲õ✆☎✞✝❴r⑥➎❛⑩✠✟☛✡

☞s⑨✍✌❯♥✇⑩✏✎✒✑▼❵❈❜✇❝P❞✦➩❴➘❛♠❙❤P②❯❽■à✇❺◗áèû▼➃✣❤❛❐

⑩❛➸✁✓✇◆✇❍✩❘❯❚✐◆❴❐ ➹➙⑧ ⑩✕✔❈Ñ✁✖✦➩✘✗✁✙➙②❲❽❛➸✚✙❈➸✜✛

❋✒✢❨❏P▲☛✣✥✤❴❫❲①

2

✦★✧✪✩✬✫✮✭✰✯✲✱ ✳✲✴✶✵✸✷

2.1

✹✻✺✽✼✿✾❁❀❃❂❃❄❆❅❇❂❉❈❋❊●❈■❍■❏✽❑■▲◆▼

❧✁◗♥

ÐP❖

➽❴❫❘◗▼➻❙➥✐➦✦➧✩➐ ï✇à✒❙❴úP❷✇⑩❯❚sr✕❱✠❲

❡♣◆■Ñ▼Ò❙♠❈r❛❩❨❬❑➺▼➻⑥➩❘❳❈❬◗➽❴❫P❽❈❾❨⑩❲❆❈❇❑❵▼❜✦➩⑤❝

∗

❨❬❩❪❭❴❫❛❵❬❜❞❝❪❡❪❢❤❣❪✐❪❥❪❦❴❧❤♠❪❝❪❡❤✐❪❥❪♥♣♦

q

305-8568

r❤s✉t❪✈☛✇②①④③❤⑤⑦⑥

_1-1-1

⑧⑩⑨❬❶

₂

E-mail: hidehisa.akiyama@aist.go.jp

❞◗➽❊❫●➇◗❤è♥✇✈✇❫❲①❴❐❈⑩❴❘◗➔➼r●➥➓➦✦➧❙➐➲❡❲❵▼❜✩⑩✒❷✒❸

②→④☛❹✁❺Õ②❛r❈❏✇❽❈❾➓◆P❵❈❜➶➩♣❻✆❼➓Ó▼Ô●➽❴❫➓à✇❺●á❲â◗❺

❷●ã✐❷▼ä❑å

⑦✞❽

q✯❤→r●❫❲①✦➇♣⑩❊❘❊➔➼rPà●❺●á❛â◗❺P❷✇⑩

❾✠❿ ❋❈❡❯◆♣➉❴⑩☛➀✚☎❑⑩◗❘●➔èr⑤qP➁❙➩♣➂❴❽➓➽ ❽ q ⑦ ✈❑❫❛①

ë✞➃ ◆P❆❈❇❨❵▼❜✩❋P❍❑❏▼▲✇❡❯ísî⑥❤➼❉❨⑨❨⑩❲❵▼❜ ⑦ ♦❑q

♥▼✈❈❫→①❈➇❛⑩✇➇❑❤è❡❛◆➓❐

➹➶⑧

➩❦Ó■Ô❑➽✇❫❲à▼❺❑á➼â❨❺♣❷▼❡

õP➄❨❵▼❜❙ã■❷❑ä▼å

(Geographical Information System

: GIS)

⑩☛➅✄➆◗♥✇✈➶➜ ◆■õP➄✥➇✍➈✠➉✚➊❈➍➙➐➌➩➼û❈➃◗➽❊❫❘➋

➌❴➩♣❹✁❺❊♥➎➍■❫◗❘◗➔→❋ ❾P❿ ➪⑤➹ r❨➀ ➹✍➏ r ⑧ r❈❏s➇●❤

➩✉➐✆➑❯➽●❫→①❛➽❑r❯❪➓➒→◆➼í●î❛❵✐❜❙➩✐❸✐❺❴❤✐②❦▲✏➇✜➈✏➉✒➊

➍➙➐➌➩ é ➜♣➔❊②è◆❊✈❨❫⑤ísî✐➅■❵❈❜➶➩❙➋☛→■➍◗②❦◆■õsö▼÷

♥✇⑩✒➇✍➈P➉✚➊❈➍Õ➐➲⑩❯➣✁↔❨ï✄↕❑Øs⑩❲❵❈❜➶➩♣❻✆❼◗❫❲◆❊r⑥➎

⑩❯➋➓➌

⑦ q Û ➪⑤➹

❫❯①

ë

❽➓◆

GIS

❡➶❶ß❷❊❸❑❹■❺✇➥✐➦✦➧

➐❛❤❬➙s⑩❯❆❈❇❑❵▼❜❙ã✐❷❑ä▼å➶❤❯➩⑤Ó▼Ô●➽❴❫P❽❈❾❨⑩❛♦▼qsr

➛

➉❨❹■❺♣ù✇♥✩❢➓✈❨❫❲①✠➜✚➝➎➈❈ã■❷▼ä▼å✇⑨P♥✇❡❯➞P➟✩⑩✚➠

➥Õ➐ß➏⑤ù❙➩❛ç●❏◗❫➓à✇❺◗á❛â◗❺■❷●❋❊❘P❣❯▲➓❵❈❜❙⑩❯➡✩➀❯➢

② ⑦

➫✇❪

➹

❫●➇●❤→❋❈r✇❫❲①

ë

❽➓◆✚➇❆→✏➤✐ú❴→⑤♥●⑩✕➥❨ç

⑦✏➦

❹❊♥●✈ ➜ ◆✯➋→ø❯ù⑥á

úPå✇⑩❯➧✁➨✠➩✁➫

⑦ q Û ➪⑤➹

➇●❤■❢ß♦▼q✩r✕➭◗♥●✈❨❫❲①P❆

❇✇ï✐❩❑❬❙❡❲➻s♠▼r❲➃✚➯◗♥✇✈❨❫P❽▼❾➓◆✯➋➼ø♣ù❙á➓úPå✇r❲q

Û ➩P➥❘❙✇❷✣➐ ❋➳➲✄➄●♥✆➍✐❫♣à❨❺❨á⑤â●❺✐❷ ⑦☛❽ q✳❤➼r❑❫❛①

❘■❣❯▲P◆■❞❆➵❘➸✠➄❑➡❊♥✍➺➓→⑤ä✠➻➼→⑤❷❴➏❯❷Þ➐ ⑦♣➒ ❏s❢♣⑩

♥✇❡▼r ý ◆✏➽✁➾✩❋❯➻✁➚➙②è◆✄➪✠➶❑➸❑➫P➹➓➌●r✇ã✐❷❑ä▼å

⑦

➘

ë❯➹

❫❲①

❐s②→▲■◆✏➴◗❪

➹

❫⑤❵▼❜❑þ✠➷❙❡❲❆❈❇❴❉✇❋

❽

q✩r

➪■ë●ì

ë

r❯❵❈❜➶➩➼û▼➃❴♥➎➍■❫

❽ q ⑦

✈✇❫❲①✏➬P➮✚➱❨ï■➷✁✃sr⑥➎

⑩✞➅✄❐⑥♠▼r❈à◗❺◗áP❿❨➀■♥●r➙ý ◆■õ✁➄sà●❺◗á ◆✇❉➓ðsà●❺

á ◆☛✎✕✑◗rs➎➼⑩✘❒●ä✇❸❯❷✣➐ à▼❺❨á ◆→þ✏➷❈Ø ➪➼➹ ❽➓à❑❺❨á

r⑥➎✐❢⑦➴✆❼❨r❨➀

➹✍➏ r ⑧

r❈❏■①✏✂✩❋♣◆s➥➓➦✦➧❙➐

⑦

❝P❞

➽❊❫➓à✇❺◗á❈➩♣➴ ➔ ➄❑Ô✩❋▼❡♣◆

➪■ë●ì■ë

r✠❮❰→Ï➝✇à●❺●á

⑦

➲✠➄❑↕✚➯❴❋❈r●❫P❽❈❾✐◆❊❐

➹➙⑧

➩✘ÐPÑ✩❋P④✠✢

➒

➩❙❋➳➴

❼✇❫❘✖✥➌

⑦ q Û③➪→➹

❫❲①

ö

1: MISP

⑩❯➋✥➌

.

2.2

✂✁■✹✻✺✽✼✿✾☎✄✝✆✟✞✡✠☞☛

➦✍✌

♥✞✣✥✤◗❽❲q✁➁⑥➩✘➂✩❽✐➽●❽▼❾❑⑩❲❖❑❆▼❵❈❜P➞✚✔❰➠▼➥

➐❦➏⑤ùÕ❤❈②⑤▲

MISP (Mitigation Information Sharing

Protocol)

⑦

❹✏✎

➪⑤➹

▲❨❏●❫

[1, 2]

①✦➇

➹

❡➓◆✏➹➓➌✇r✒✑

➜✔✓✚➣s⑩♣◆✍✓✩❋✖✕✘✗❑Ø ➪❛➹✍✙ ý æ✇❪ ➹ ▲❑❏●❫✛✚✢✜⑥➩✤✣

ç③②è◆✥✓✚➣s⑩❑ã■❷▼ä▼å■ï✘✦✒✧P➚✏★ ➪⑤➹ ❫❈ã✐❷▼ä❑å➶❤⑤⑩

✩✏✪P✖❙➩

➒

❾✇❫●➇●❤❯➩◗➘✬✫Õ②❲❽✚➠▼➥Õ➐➌➏⑤ù✇♥✇✈❨❫❲①

MISP

❡✐◆

WFS(Web Feature Service)[3]

➩♣â❴❺❈❷

❤❑②➓❽

XML

âs❺▼❷❊⑩➓➠✇➥✣➐➼➏❯ù❊♥❊✈➙➜ ◆

WFS

❤➓❭

✭❨➽✇❫

GML(Geography Markup Language)[4]

◆

XML

Schema

◆

SOAP(Simple Object Access Protocol)

r✩➎

⑩✘➜✒➆✍✕✥✗✩➩➼ç▼❏✐▲■❍③➜ ◆➌❆✐❇■❵✐❜✩➩✉➞✄✔▼➽✇❫➓❽✐❾■❋✯✮

✰ ②è▲▼❏✇❫✤✱P➪✩➩✳✲✘✴●➽●❫✤✵◗♥✖✚

❖✦➪→➹

▲▼❏❨❫❛①

XML

✶ ⑩✕➜P➆✒✕✘✗➶➩❲â◗❺P❷➶❤P②⑤▲❑❏●❫●➇◗❤è♥■◆Pþ✠➷❨Ø➙②❲❽

❵▼❜✦➩✸✷✺✹sr✻✵❴♥✞➴➎❼✐◆s❐❈⑩

❖✒✼

❡

XML

⑩Pà●❺●á→þ

➷✾✽P✣❀✿✒❁✩⑩✞➅✥✢❨♥◗✈●❫

XML Schema

➩❯ç◗❏❑▲❂✽✠✣

➪❛➹ ❫❈❽▼❾✐◆P❵❈❜❨þP➷❃✷❅❄✦➩

XML

à●❺●á❴❤❈②⑤▲☛➞✚✔

➽◗❫●➇✇❤

⑦

♥➎➍✐❫❛①➓õ✠➄❈û❈➃✇◆▼❉❯ð▼û❈➃s❋❈❡

GML

➩⑤◆

✗✒❆✩❋▼❡✻❇✒❈✩r✕✗✏❆✘✵✏❉

⑦✒❖

❾

⑧➌➹

▲❑❏◗❫

WFS

^⑦

ç

❏

⑧➌➹

◆✘❊P✙✟❋❍●✻■❑Ø❴❋▼❡

SOAP

⑦

ç✇❏

⑧➌➹

▲❑❏●❫❲①

ö

1

❋

MISP

⑩✘➋✁➌●➩➌ü❨➽❯①

MISP

♥❘➴Õ➔ ➋✁➌❑❡❘➅☛❐

♠✐r♣à▼❺❑áèâ❨❺♣❷❯➸✞➄❴ã❯❷✐ä■å❙❤ ❥✐❧❊♠■❋ ➮✡❏ ♥❯◆⑤à❈❺

á♣⑩❛➆✏❑P◆❯✗❂❆❑◆▼▲❂◆❑◆✍❖✒P ⑦ ❚❊r❊❢❲⑩✩❤èr❨❫⑤①

MISP

⑦

WFS

❤❅◗ ➍❙ý❙❘✩r●❫➳➭✩❡➓◆❂❚✁➣◗➽❴❫✐à●❺◗á■⑩✖❯✦➩

➸❈➫✇❉❑❋

XML Schema

❋◗❘♣❣→▲

❖✍✼

◆⑤ñ❈ò③②➌◆⑤þ✏➷❙➩

➞✁✔❑Ø◗♥➎➍■❫➳➭◗♥✇✈✇❫❲①✦➇♣⑩❑❽❈❾➓◆✍❱✇ç●❉✇❋❑ã■❷▼ä▼å

➩✛❲✘❳

➪ ➭ ➃

❋▼❨✒❩◗➽◗❫●➇●❤✐❢✉➹➓➌③❤➼r◗❣❯▲❑❏●❫❲①

MISP

♥✇❡✞➀✜☎❨⑩✦➋⑤➍❭❬❈❷➑➐ ⑦ ➥❑ç✏➹➓➌❑♥✇✈❨❫❛①

• GetFeature:

à❑❺✇á→â●❺✐❷●➩♣✗❂❆ ②èà❨❺✇á■➩ é

ê

➽❊❫❲①

• Transaction:

– Insert:

✴✢✽❈ò✇➽❊❫❲①

– Update:

à◗❺❊á♣â❴❺❈❷❊❋❭✽❑ò

➪❯➹

▲✇❏❊❫

à✇❺●á➓⑩✥✌✛❪❙➩✘↕✘❨●➽❊❫❲①

– Delete:

à❴❺✩á➓â❙❺❨❷❴❋❂✽●ò

➪➓➹

▲❊❏✩❫

à✇❺●áP➩❫❖✏PP➽❊❫❲①

• GetCapabilities:

➝❨❺❘❙

⑦

❹✄❺❑➽✇❫❵❴◗❺✾❛➼❷▼❋

❭♣➽◗❫⑤❵❈❜✩⑩▼⑩❈tP❏♣Ô✇❪▼➭❈①

• DescribeFeatureType:

ñ➓ò ➪ß➹ ▲✐❏▼❫❛àP❺▼á

⑩➼➡❝❜ ➨▼ç▼❷❨❸✐❺❫❞➓◆✾✷❢❡❊⑩➼➡✒❣➓⑩⑤❵✐❜❙➩➼◆

XML

Schema

⑩▼✵✒❉◗♥❨t❈❏♣Ô✇❪▼➭❴❫❛①

• RegisterFeatureType:

à▼❺❨á➼â❨❺➓❷▼❋✤❩❴❽✐r

à✇❺✇áè➡✦➩

❖✘✼

➽◗❫❲①

➇ ➹➙⑧ ⑩③➋⑤➍❭❬▼❷➑➐➲❋❯↕➙②→▲■◆P➝❴❺✕❙●④ ⑧ ⑩✦❶ß❷✏❤❰→

❷✍➺❊➧♣❮✇❺✁➉ ⑦ ❐ ➹❊❒➓➹ ✚ ❖③➪⑤➹ ▲❑❏◗❫❲①➶➇ ➹➙⑧ ⑩⑥➔

➒❲◆

RegisterFeatureType

➀❂✐s❡

WFS

♥❫✚

❖➶➪⑤➹

▲▼❏✇❫✠➠❈➥➙➐➌➏→ù✇♥❨✈❑❫❛①

RegisterFeatureType

❋

❘■❣❯▲P◆❴ã■❷▼ä❑å➓➳✏❄✦➩✛❲✒❳

➪

➭s❫◗➇●❤❅❥Þý ◆✾❦✇❺❭❧

❡▼❩Õ②⑤❏▼à✇❺●á❑á➓ú✜➠❨➩✤✲✒✴◗➽❴❫●➇●❤

⑦

♥➎➍P❫❲①P❆❈❇

♠✘♥ ➀ ➦ ❋ ❽ q✩r❯❵❈❜❙⑩✐➽✠✤❨▲❴➩ ❖✘✼ ➽❊❫●➇◗❤⑤❡❂♦✖♣

♥✇✈❨❫P❽▼❾➓◆✦➇♣⑩✕➆s⑩▼❇✏❈✁✖s❡➶❶ß❷◗❸❑❹■❺❑ã✐❷❑ä▼å✇❋

❍❑❏❈▲♣♦❑q❊♥✇✈✇❫❲①s➥➓➦✦➧❙➐ ④ ⑧

⑩❲❵▼❜❨❝P❞➶➩→➫✯➔ ➄

Ôs❋▼❡♣◆s➥✐➦✦➧✩➐

⑦

æ❨ç●♥➎➍■❫✒❮❰→Ï➝✇à✏❙❊úP❷Pï✏➟✏q

r✘s✩⑩✖❪✠➾✩❋❲Ô●❪▼➭❨▲P◆❨à●❺●á❛â❊❺■❷✇❋❯ñ▼ò●➽✠✤❆➍è❵

❜⑥➩

❖✘✼

➽❊❫●➇●❤→❋❈r✇❫❲①

à●❺●á❛â❊❺■❷❨⑨❈♥✇⑩❲❵❈❜✁➞✁✔s⑩❑❽❈❾❑⑩✖t✒✉✡✈✦❤❈②→▲

TransactionID

❢ßç☛➐ ➪è➹ ▲■❍③➜ ◆➓ã✜→è➦♣ù➓Ø ➪è➹ ❽❑á

ú❈å❨❷✩á✥→✏➠❨➩❘➴➑➔✐➇❊❤P❢❲♥❰➍❈❫❯①

TransactionID

❋

❘✐❣❛▲✐◆✖✫

❖

②❛❽✐❉☛➭❴⑩✳➐ ➤✜→✳❧s➍■ã☞✇❯→Ï➀✏①❨❋✯✲✘✴❨◆

↕✘❨

⑦

✈●❣✐❽❲❵▼❜✩⑩❂✈❊➩

é❑ê

➽❊❫●➇●❤

⑦

♥➎➍⑤◆❂②P➾✩⑩

③✁➪◗à✇❺◗á✐⑩♣ï ➜ é

➜è❿❑➀✐♥❫④✏❩❊à✇❺◗á❛➅◗⑩✻✲✏⑤

⑦ ➹

➌③❤→r◗❣❯▲❑❏◗❫❲①✦➇ ➹ ❡➓◆⑥❛■❹■❺⑧⑦✞➠▼➥✢⑨P➤♣å✇r⑥➎❛⑩

⑩ ➾✩⑩■à●❺●á❈➩✘➴❴❏✄✢✁✢❙❢❷❶❊❉✒✖s⑩❛♦❑qsr❨ã■❷▼ä▼å✇❋

↕➙②→▲❙❢⑦✔▼Ñsr✕➋➓➌❑♥✇✈✇❫❲①■❧✁❊♥✇❡♣◆s➥✐➦⑥➧❙➐

⑦♣é

ê

②❲❽❲❵▼❜✇◆✩➩❙➋→ø❯ù❙á➓ú❈å✇❋➳❻✢❸➙②→▲❨❏➙ý❲➇●❤♣➩

Ð

❖

②❛▲✇❏❊❫❈❽❑❾■◆■➸◗ç◗÷P◆

TransactionID

❡☛✔

➘

r✞➋

➌▼♥✇✈❨❫❲①

2.3 DaRuMa

DaRuMa (DAtabase for Rescure Utility Manage-

ment)

❡

MISP

⑩❦➸✞✓●⑩✘➅✏✢✐♥P✈✐❫è①

DaRuMa

❡

MySQL

➝●❺➳❙ ❤

Java

♥✻❹●④

➹

❽✡❺❼❻ ù☞❽✕➊➓ø❴❤ß♥❯þ✘★

➪➼➹

▲

❍Õ➜ ◆❾❺❿❻ ù❿❽✏➊Pø▼❡

MISP

❤

SQL

❤❛⑩✻➀✢➁⑥➩⑤➫✯➔ ①

DaRuMa

⑩❛þ✄➷⑥➩♣ö

2

❋⑤ü●➽❯① ➋P❶è❺▼ã☞✇❪➻■ù❨à❨❺✇á

â◗❺■❷●ã✐❷▼ä▼å➶❤❈②→▲

MySQL

➩➼Ñ✒➂✩♠▼❋❲➺✇ç❨➽❊❫P❽

❾✇❋■◆

DaRuMa

⑩⑥❺❾❻ ù➃❽✏➊Pø❑❡

XML

þ✁➷ ➩

SQL

ö

2: DaRuMa

⑩✁❈q❨①

ä✇❺✁➈❲ù❑➅ ❤❤➹➓➌✇r✒✑ ➜✄✂✆☎❑Ø●➽◗❫❲①✥❨✩❋♣◆

DaRuMa

❡❲õ✁➄❙♠▼r✥➠▼➥✁✝◗ä✟✞❈➩

XML

þP➷ ✌♣♥✇ú❴→❛à✦➧♣➍♣❷

✠s➀♣➽◗❫❛①

MySQL

❤

Java

❡ ⑩ ýß⑩✁➠P➤◗➧s➐☛✡✌☞❲❺✐å

♥✐➻P➚◗➽❴❫P❽▼❾✐◆ ➪■ë●ìPë r

OS

÷■➅❊⑩✕◗✎✍ ⑦ ❪✌✏Õ❤

r◗❣❯▲▼❏●❫❲①

3

✑✓✒✓✔✕✔✗✖✙✘✛✚✛✜✕✢

3.1

✣✥✤✧✦✩★✩✪✬✫✮✭✰✯

✱✳✲✳✴✶✵✸✷✺✹✼✻✾✽❀✿✾❁❃❂❅❄✎❆❈❇✎❉✾❊✆❋✬●■❍✼❏❃❑▼▲❖◆

P✳◗❙❘❯❚✾❱✺❲❈❳❩❨❭❬ ✻✟❪✎❫✸❴■❵✎❛✶❜✟❝❡❞❡❢❣✵❀❤✾❊✌❴✁✐

❘❯❚✼❥✎❦✎❧

❜✟❝❡❞❡❢

❬❯♠✎♥❙❘❯❚✳♦

❝❈♣✾❍✺❏❭❑▼▲✄◆✼q❩r

s✎t ❴✈✉❡✇✳❝✾①■②✁③✾④✁⑤ ♥ ❢⑥✻✟❪❀⑦✳⑧ ❬✼⑨❩⑩ ❴✁❶❸❷❺❹

❻ ❬❅❼✎❽❙❘❅❚

SLAM (Simultaneous Localization and

Mapping)

❢❯❾✸❿✼✹✧➀❅➁✺➂✾➁➃➀✈➄✺➅❡➆➈➇❅➉➊➄❩➋✼❁➃❂❣❋

●❯❄✆➌✶➍✳➎❡➄ ❳❩❨ ❴❈➏❡➐ ♦✸❲ s✎t ✻✟❪❀⑦✎⑧➈◆✺✲✎✴✮➑❅➒

❚✳♦ ❝✁♣ ❘ ❋ ❘ ❁✆◆✬●☛✹✾❍✺❏❭❑▼▲❅①➔➓❡◆ P✳◗→❘❈❲✈➣ ➁

↔

✵❡✷✺↕➈✷✬➙❅➛✼➉✆➜✸❁❭❂➝◆✼➞ ❱▼➟ ✹✼➠✟➡❡❄■✻✳➢ ➣ ➁ ↔

❢❅❄❀➤✆➥➈◆✺➞ ❱❈♦ ♣❭➦ ❘ ✹✈➧✎➨✳➩➊❄✆❪❈➫ ➣ ➁ ↔

◆✺➭✸➯

❴■❹▼❴✁➲▼❝✆❄✆✵✸➳✺➒➈➵❀✹✟➸❀➒→● ❬■➺ ❴ s✎t ✻✟❪ ❬ ⑦✎⑧

❘❯❚ ✉ ➟ ❞✶❢❅✷❈➻❩➼✟✵❡➳✌➽▼❷✄♣✈✱✳✲✳✴✶✵❡✷✺✹ s✎t ✻✟❪

❢ ❘❣❚ ❪■➫ ➣ ➁ ↔ ❬

MISP

^➾

❢❺➚✆➪ ❘ ✹

DaRuMa

^➾

❢

➶✎➹

❜✶❝❡❞❡❢ ❬❯♠✎♥→❘❣❚✳♦ ❝✁♣

➧✌➩➊❄❀➘✳➴➈❪✌❁❭❂■✷✺➷✆➬▼➮✳❴

CAD

➣ ➁ ↔ ❢ ❘❅❚✺➱

✃ ➒➈❝ ❲✈❐ ✹

CAD

^❒

➆✮▲❰❮❈Ï❀Ð✼❫✈✵❈⑦❩⑧ ❘❅❲■Ñ✈Ò❡➣ ➁

↔ ❬

MISP

^➾

❢⑥➚❩➪✶❜➈❝❯Ó✎❻✶◆✈✹✈Ô✎Õ✾❄ ➣ ➁ ↔ ❬ ➻❩➼

Ö❡× ✵ ❱ ❝■Ø✟Ù✆Ú→➦❣Û ♦ ❢☛Ü ♠ ➑✁➒➊❝❀♣

CAD

➣ ➁ ↔

➆✸Ý❀➁✈Þ❭❑▼▲⑥❴✎✷ ♦→➟☛ß ❋✸❄❈à❩á✟◆✺Õ✎â✶❜➈❝✼◆✈✹❭❞✎❞

✵✎✷■✹✆➦✁ã✎❢❈➦☛ä

➟æå✼ç➃❘❰❚

✉➃➙è➭✈➠❡❫■é✼ê➈➮✼❁❡➦■❄✟❢

➑❰➒ ❚ ✉➃➙ë✹❰❋ ß❈ì✼í ➦ïî✳ð✶➑❰➒ ❚✆♦ ❝

DXF (Drawing

Interchange File)

➆✸Ý❀➁✈Þ❭❑➊▲

[5]

❬❣ñ × ❜➈❝✁♣

DXF

❁✼❪❅ú✈❵✈û✸◆✼❜✆✵✎❴ ♥✼ü ➑➝➒ ❚ ✉✮➙æ✹❩❞❰➒➃● ❬

GML

❴

ý

❝❯❵✎û➊❴■➚❩➪✶❜❩➒❡➵

MISP

^➾

❄■➚❩➪✬➦❰❶➈þ✸❝✁♣✟➸❩❄

➡✺✹

DXF

➣ ➁

↔❩ÿ

✵✌❄✁❩é✸❋➃●✄✻❩➢✂❩é

➾

❄❅➚✆➪❡◆☎✄

✆ ❢❯❁✸❝❈♣❭❞❀❄✝✳é✎➚❩➪✟✞❩➢➊✷❀✹✡✠ ß ❄✝✳é☞☛✾❄❈➚❩➪

❬ ❶✰❷⑥❶✍✌ ❬ ×✏✎ ❜➈❝✶❞❡❢➝✵✒✑✟✓➈❴■➠✳û➈✵ ❱ ❝✁♣ ❲☞✔

❘ ✹✈✻✎➢✍✳é✶✵✸✷✁✻☞✕➊❄✗✖✙✘ ❬☎✚✒✛→❘✁❲✢✜✂✣ ◆✤✄ ✆ ❢

❁✬➙ë✹✍✥✏✦✾❴✝✠✳ò➊❄✁✐✍✧✩★✁✪➈❋✮●ï❶☞✌ ❬✬✫✩✭ ❜➈❝ ✔ ✇

✵✸✷✆❫❈❹

➟ ♦

❋✸❁

♦✌❲✎❐

✹✏✎é☞✮

✃☞✯

❄☎✰✏✱✳⑦☞✲➈◆☎✳

✴ ✄ ✆ ❢❯❁✸❝✁♣

✱✶✵✾✵➈✷✈✹✍✷➈❫➈❄ ✆✹✸✬❬✝✺❃❲ ❜✼✻❡➁✡✽✩✾❡❍❀✿✹❁✡❂✎✹

dxf2gml

❬ ⑦✎⑧ ❘✁❲ ♣❭❞❀❄✟✾✎❍☞✿☞❁☎❂✸❴

ý ã ❚ ✹

DXF

➆❀Ý❰➁❈Þ❡❑✌▲ ❄ ➣ ➁ ↔ ✷

MISP

^➾

❢✄➚✺➪❃➑❰➒✺✹

DaRuMa

➾ ❄

➶❩➹

◆❈Ø❡Ù❭❢❣❁✌❝❅♣

DXF

➆✎Ý✁➁✺Þ▼❑✟▲ ❬❄❃✂❅ ❜❡❝

❲❩❐ ❄✒❆✶➁✟✾✶➄

❒

➁✈➌❇❁✼➉✹❈✍❁❃ö ◆ ♦❙➟ïß ❋✼Õ✎â ❘❯❚

✉→➙ë✹✈✱✍✵✶✵❀⑦✎⑧❡❜➈❝✂✾✎❍✍✿☞❁✢❂✎✵✸✷

dxflib[6]

❬❯ñ

×

❘■❲ ♣

3.2

❉❋❊ ✦✩★✩✪✬✫✮✭✰✯

MISP

✵➈❍✼❏❭❑▼▲ï❄✏●❃➄■❍ ➣ ➁ ↔

❬❅♥✎ü ❜✟❝✼➡❡❄☞❏

➉❋❑▲❁✺➉✟➄✸❢ ❘❣❚ ✹

GML

❄

directObservation

❬ × ♦

❝✟❞✟❢■◆✈⑤❀▼❙➑❈➒ ❚✶♦ ❝

[2]

♣✡◆❭❴✆✹✏❖✹P✌➼❀◗ ❬ ❫❇❘

❝ ❲❡❐ ❴ ➣ ➁ ↔

❄✼➠✶❙✥❢❚❖✶P➃❄➈➍✸➁✮❢❀❁✾❝ ✆❇❯✬❬✢❱

❲▼❴

♥✳ü

❜✾❝➈❞✟❢✆➦➝⑤✹▼→➑✁➒

❚✸♦

❝❀♣❡❪

3

❴

Regis-

terFeatureType

❴ ý ã ❚ ➶✆➹ ❜❡❝ ➣ ➁

↔✆↔

➉✍✾✈❄✁❳

❬ ❛❡❜❈♣✾❞❈❄✝❳❡✵✌✷❈✹

KenafSensedDataInfo

❢

Kenaf-

SensedDataEntity

❢ ♦ ❷❨✠ ß ❄ ➣ ➁

↔✆↔

➉✍✾ ❬➝♥✈ü✬❘

❚✎♦ ❝✁♣

KenafSensedDataInfo

✷✺✹✾❍✺❏❭❑▼▲✄◆ ❳❩❨➃❬❣P✌◗→❘

❲❈⑩✗❩

(time)

✹✁❍✁❏❡❑✸▲è◆✝❬➃①❣❴❅➴✤❭ ❘❣❲✬❪ ✐✶➮✺❁✁❫✒❴

③✶④✝✆é

(odometry)

✹❀➴✡❭❭➑❯➒ ❲ ❫✏❴❩③➈④✗❩é✸❋➃● ✸

❐ ●ï➒ ❲ ✻✈➢✂✆é

(location)

✹✆❍❈❏✟❑➈▲➝①ï➓✶❄✗❵✡❲ ❳✈❨

(robotId)

❢ ñ × ❘❀❲❩➣✂❛ ➉✎➌✶❄✒❵✍❲ ❳✌❨

(deviceId)

✹

➸ ❘❣❚ ✹ ➣ ➁

↔❄❜

❙✟❄✢❵✏❲ ❳✆❨

(entityId)

◆✤❝❡❞✁➒➈❝✁♣

❞❀❄ ➣ ➁

↔✎↔

➉❀✾✆✷❀✹✏❖☞P➊❄✌➍✆➁❃❢ ❘❯❚✼ñ × ➑❅➒✾❝❡❞

❢➝◆

♠✎♥

➑❅➒

❚

✉❙➙ë✹

❱❣❢

❄

❳❩❨✍❤

✷✢✐✮➑

♦

➦❀❄✳❴✂❥

♥ ➑❅➒ ❚✳♦ ❝✁♣

➷✆Ó✌✹

KenafSensedDataEntity

✷✒●▼➄❄❍ ➣ ➁ ↔

➸❩❄

➦✁❄❀✵✺✹✤●✾➄❦❍ ➣ ➁ ↔

❄✗❵✡❲ ❳✈❨

(entityId)

✹ ➣ ➁ ↔ ❄

à✈á

(type)

✹✌➸ ❘❣❚ ✹ ➣ ➁ ↔

➸✆❄✶➦❈❄

(data)

❋➃●♠❧❩⑧

➑❯➒✟❝✁♣

entityId

✷

KenafSensedDataInfo

❴✝❝❡❞❈➒✟❝

➦❀❄▼❢ï✐✍✧

❘❯❚✌♦

❝✁♣❭❞❀❄✢❳✶✵✸✷

➣ ➁ ↔ ❢

❘❯❚☞♥✒♦✎❳

❨➊❬➝♠✈♥✮❘❅❲ ➦✁❄❀✵✺✹

entityId

✷ ♥✢♦ ➆✳➇➔➉✝✽☞♣✺✹

type

✷ ♥✝♦ ❄✎➆✈Ý❣➁❀Þ➈❑❡▲ ❬ ❵✌❜

mime

^↔

➉☞✾❚q✡r✏✌❩✹

data

✷ ♥✤♦✶➣ ➁ ↔ ❬

base64

^s

➄✡t✺➁❋❑ ❘✁❲ q☞r✍✌❙❢❰❜➈❝✁♣

✷✆❫✈❄ ➣ ➁ ↔ ❬ ♥❀ü❭❘☛❚ ✉ ❱ ✹è➠✳➡✆❴ ➣ ➁ ↔ ❬

DaRuMa

➾

➶✺➹

❜✳❝❅➡✆❴✺✷❯✹

KenafSensedDataInfo

❢

KenafSensed-

DataEntity

❬ ➷☎✉➃❢ ❘ ❚ ➶✺➹ ❜✳❝❣♣❣➸ ❘➔❚ ✹ ➶✺➹ ➑➔➒ ❲

↔

Ke-

nafSensedDataInfo

❬ ❖✟P ❘ ✹✎➷✄✂ ❘❀❲❩➣ ➁ ↔

◆✆☎ ß

entityId

❋➃●✞✝

❐✆❚

KenafSensedDataEntity

❬

❖✂P✸❜

❝✁✹→❢ ♦ ❷ ✞❩➢➈◆✺❶ ✃ ➒✟❝✁♣

❪

3: RegisterFeatureType

❄✝❳

.

4

✟✡✠☛✟✌☞

✍

NEDO

^✎✑✏

➮✓✒✄✔❃❍❀❏❃❑➊▲ ✆✟❯✖✕✘✗✚✙✜✛ ✾❩❍❩➅✎Ï

✢

▲✄✣✖✤✺➧✈➨✈➩

ÿ

❫✡❴

RT

^✥

➌✖✦✒❂✡✧✩★✆✪ s✼t × ❍✁❏✶❑

▲✬✫✖✭✄✮✼❆❅❇✈❉✶❊

ÿ

Û✰✯✖✱❩❶✆✲✰✳✖✴➊❍✁❏✟❑✶▲✶✵✼❴

❚

✹❰✱

✲✎✴➊❄

✥

➌✷✦✍❂ ❬ ➠✟➡✸❄✌❍✼❏❃❑▼▲✁❢✹✸☞✮ ❘ ✹✏❴✳⑦➃➑ ✯

❲ ♣✳❞✁❄☞✾✆❍✼➅✈Ï

✢

▲❖❴✺✉ ♦✈❚ ✹❰➠ s✆t ❴✺✉✌✇❩❝✈❍❈❏✟❑

▲⑥❄✁➠ × ❧

➾✑✺

✇ ❚ ✹✖✻✽✼✜✾✈✻✾✽❀✿✶✉

ý

❿✁✻✟✽✺✿✷✻❁✼

❪

4:

✲✷✳ × ❍✺❏❭❑▼▲

Kenaf.

✾✸❴ ❚ ➠✄❂✺➠✷❃✎◆✁❶

✃ ➒ ❲ ♣✎❞■❄❣➠✄❂✺➠✷❃✸❴❀✉ ♦✼❚ ✹➔✱

✲✆✴✟❄

✥

➌✄✦✂❂ ❬ ➠✶➡✌❄✳❍❀❏▼❑✟▲❅❢❅❄☞❴ ❘❣❚ ❴✆⑦❭➑

✯ ✹

➠ × ➮❩❁❈Ú❡Ù

❬❯◗

● ➒✟❝✺❋

❬❇❆✷❈✬❘✁❲

♣

4.1

❉❋❊❍●❏■▲❑❁▼❖◆◗P✆❘❚❙❱❯❳❲❖❨❁❩→✦❭❬❚❪❭❫

ñ × ❘❈❲ ❍✺❏❭❑▼▲⑥✷✺✹✙✾✎❍✎➅✌Ï

✢

▲⑥❄❵❴ ⑨ ✲✳✴✷❛✩★

✵✳➳❩❝❝❜✰❞✰❡✂✲✆➞✖❢➈❁➊❂➔◆

✙❀✛

❜❡❝

Kenaf

✧ ❪

4

✮✺✵✳➳

❝✁♣❭❞❀❄✌❍✼❏❭❑➊▲❺❫✌❴✄❣✑❤☞❁✼❁❭❂❅❄❵✐✶●❃➄❄❍ ➣✡❛ ➉✆➌

◆❀❥✘❦✮➑■➒ ❚ ✉✧➙ë✹➈➸✺➒→●❅❄ ➣✒❛ ➉✆➌✳❋✮● P✌◗→❘❈❲✁❳

❨▼❬

DaRuMa

^➾

❢♠❧✷♥✌❜✶❝❅♣❵♦✑♣✎❄❅➠✘❃✌✵✳✷❈✹✌❍❀❏➊❑

▲❖❫✌❄

Web

❣✁❤✍❁❀❋✮●

HTTP

^q❱r

✵ ♥✤♦✶➣ ➁ ↔

❬❣P

◗✬❘ ✹

DaRuMa

^➾

❢s❧✷♥ ❘✁❲ ♣

4.2

t❋✉◗❪✇✈▲❨①P✘②✇❑④③❚✉❭⑤

Kenaf

❋→●

DaRuMa

^➾

❢ ❳✌❨✮❬ ❧✁♥➈❜✾❝ ❲✳❐ ❄ ✢

❁✼➉✸Ð✟➄➃▲ ✾✳❍✟✿✍❁✤❂✮❢

❘❅❚

✹

KenafMispClient

❬❀✙

✛→❘❈❲

♣❃❞✺❄✹✾✎❍✟✿✍❁☎❂❡✷✺✹

Kenaf

◆

P✌◗❙❘✁❲✏♥✒♦✎❳

❨ ✹✆③✟④ ❳✎❨ ✹ ⑩☎❩✌❳❩❨ ❁❭❂ ❬ ✹✎➯✰⑥➈✵ ♥❩ü✧❘✁❲✈➣ ➁

↔✳↔

➉❀✾

➾

❢✹⑦❏⑧▼❴❀➚✎➪ ❘ ✹

DaRuMa

^➾

❢✹❧✚♥✶❜✾❝❈♣

KenafMispClient

✷

Kenaf

❫❩✵✤❴✎⑦➃➑

✯

❝❡❞✸❢ ❬❯♠✎♥

❘✁❲ ✾✎❍✟✿☞❁✤❂✳✵✸➳✬➙ë✹✖⑨❁⑩❀❶❏❷➃➑■➒✟❝✳❍✼❏❃❑▼▲❺❫❩✵

① ❴✾➮✎❴

❳❩❨❭❬

❧✷♥

❘❹❸

✇✳❝✁♣

DaRuMa

^➾

➶❩➹ ➑❣➒ ❲■❳✆❨▼❬❣❥❩❦✆❧ ❜✶❝❏❺✜❻❀➁✑❼☎✾

❍✒✿✒❁✬❂➊❢ ❘➔❚ ✹

GoogleEarth ¹

❬ × ♦✆❲ ♣

GoogleEarth

✷✁✹

KML

❢ ♦ ❷

GML

❢❅❽ ❲✼➣ ➁ ↔

➆✎Ý❅➁✼Þ➊❑➈▲ ❬❝❾

✇➀❿➊✇✳❝✶❞❡❢➝◆✳✵ ❱ ✹✈✻✟❪✳❫✌❴✶➑✏❞✚✡❞✆❁➁❿✄➂ ❳✎❨❭❬

❵✎❛✶❜➈❝✶❞❡❢➝◆✺Ø✶Ù✮❢❅❁❡ã ❚✌♦ ❝✁♣✄♦➃♣✌❄

✥

➌✷✦☞❂✳✵

✷➈❞❀❄❵❛✶Ù

❬❇➄

× ❘

✹✾❍✼❏❭❑➊▲❖◆

P✳◗❙❘✁❲✡♥✒♦✎❳❩❨❭❬

1 http://earth.google.com/

✯

GoogleEarth

^✯

➸❩❄✈➡✼✹

MISP

❋➃●

KML

^➾

❄✁➚❩➪➊❴❩✷

darumaEarth

❢ ♦ ❷ ✢

❁✼➉✌Ð➈➄❭▲▲✾❩❍✍✿☞❁☎❂

❬ ×

♦✳❲

[7]

♣

✥

➌✰✦✏❂

❜

❙➈❄✁❧❩⑧ ❬ ❪

5

❴❯❛✸❜❈♣

CAD

➣ ➁ ↔ ❄ ➶

➹ ✷✁➭✸➯➈❴✁❶ ✃ ➒✟❝✼◆✈✹✾❍✼❏❃❑▼▲❖❋✮●❯❄ ➣ ➁ ↔

➶✳➹ ✉

ý ❿

GoogleEarth

❫ ➾

❄❅❵❩❛➊✷❈✹✶❍❀❏❃❑✾▲ ◆✁✄✂ ❘❣❚

♦ ❝✺❊❀✹✮ö❰Ð✝✽

↔

➉✡❂✌❴❅❶

✃

➒✶❝■♣➁♦✑♣✎❄❅➠❏❃✳✵✌✷❈✹

5

☎✝✆❡❢❯❄❀➷ ♥ ❊✰⑩✎✵ ➣ ➁ ↔

❧✘♥ ❬✟✞ ➙✡✠✮➑

✯ ❲ ♣

4.3

☛✌☞✎✍✑✏

➠➈➡✸❴✸❍✺❏❭❑▼▲■❢s❄✟❴➃➑

✯ ❚ ✥

➌✷✦✍❂ ❬ ❴✳⑦➃➑

✯ ❲

✒✔✓❩✹❅❪

6

❴❣❛✌❜

➣ ➁ ↔ ◆ ◗

●⑥➒

❲

♣❅❪✆✷

GoogleEarth

❄■➠✌❶

♥ ➫ ❬

➍✳➎✂✾✖✕✟➎

❘✁❲

➦❀❄✆✵✈✹

GoogleEarth

✱

✗✟❄❅✻➈❪✁❵❩❛✾❴✓➂➈þ ❚ ✹❈✻➈✽➁✿✟❄❅✻➈❪ ❬ ❵❩❛ ❘❣❚✎♦ ❝■♣

◆➊❴✺✹✁❣✑❤☞❁✈❄✌Ð✆➉✶t✸➄❀✷ P✳◗❙❘✁❲✡♥✒♦✶➣ ➁ ↔ ❬ ❵ ❘

❚ ✉✧➙ë✹✰✐▼Ð✆➉✼t✸➄✙✘ ♥✒♦➈➣ ➁ ↔

❬❯P✳◗❙❘❈❲ ③✾④✢✳é

❴✁✐✍✧➃➑

✯ ❚ ❵✎❛✮➑■➒ ❚✳♦ ❝✁♣✰♦➃♣✸❄■➠✚❃✸✵❡✷❀✹❭❞❯➒

●❯❄

❳❩❨ ➶✎➹

❢⑥❵✎❛

❬

ö❣Ð☎✽

↔

➉✏❂✳✵✺❶✰❷✼❞❡❢❅❴❈⑧✄✚

❘✁❲ ♣

➠✚❃✸✵✸✷✺✹✾❍✺❏❭❑➊▲ï✷✆❪

6

❄■✻✾❪✜✛✣✢✥✤✄❿✧✦➈❋✮● ❫

❴ ❬❀✙✔★→❘ ✹✩✛✪✢✧✫✷❿✄✦

➾✔✬✧✭

❘✁❲✯✮ ❴✳➸❩❄✟❞✍❞✟✰✥➙

✠ ❘❅❚✈➺ ❄✁③✾④

➾✲✱

❝✁✹→❢ ♦ ❷

q✧✳

✵✒❫☞❴ ❘❈❲ ♣ ❘ ❋

❘ ✹✸❪

6

❋→●❅✷

DaRuMa

❴

➶✳➹

➑✁➒ ❲ ③✾④✤✌é➈◆✼➠

➡✌❄✶➦✁❄➊❢❯✷■➞

❱✾➟✵✴

➒

❚▼❘

❞✎ã

❚✎♦

❝✸❞✸❢❰◆❀✫❡❋❡❝❅✹

❞❣➒❡✷❈✹

DaRuMa

^➾

❧✷♥❭➑❣➒ ❲ ③➈④✝❩é❡◆✼✹❡❍❀❏▼❑✾▲

①✷✶✶◆

ÿ✹✸

✵✈➴✂❭ ❘❈❲ ❆ ❑✞❤→▲❀ö ❳✎❨ ❴✁➏✶➐ ♦❩❚ ➴✻✺

➑❅➒ ❲ ➦❀❄✈✵❡➳✌❝ ❲✎❐ ✹✾❍✼❏❃❑▼▲■①✷✶✟❄❈➴☞❭✳➤✆➥✟◆✺➞

❱➊➟✽✼✄✾❙❘❯❚❃❘ ❞✌ã ❲ ❞❡❢➝◆✁✿❁❀❩✵✸➳✳❝✁♣

5

^{❂❄❃❆❅}

✱✍✵➈✵✸✷❀✹✏❫✍❴▼❍✼❏❃❑▼▲✁❢s❄✍❴ ❘❯❚ ❍✺❏❭❑▼▲✄◆ P✌◗

❘✁❲ ③✟④ ❳❩❨ ↕ ♥✤♦✳❳❩❨ ❁❭❂ ❬ ö❣Ð☎✽

↔

➉✂❂✸❴ ➣ ➁ ↔

❇

➁✆➌

➾

➶✎➹ ❘ ✹✡◆➊❴✳➸✺➒→● ❬ ö❣Ð✢✽

↔

➉✏❂✸❴✁✻✟❪✎❫

➾

❵✳❛✶❜➈❝

✥

➌✘✦☞❂✸❄✢❧✄❈ ❬ ❶❭ã ❲ ♣✟➸ ❘❯❚ ✹✈➠❏❂✆➠

❃➈❴

ý ã ❚ ✹✈✱✳✲✎✴➊❄

✥

➌✷✦☞❂✳◆❀➠❭❍✺❏❭❑▼▲■❢s❄✟❴ ❘

❚ ö❣Ð✝✽

↔

➉✏❂✸❴✝❴✎⑦✆Ø✶Ù✳✵✸➳✌❝❡❞❡❢ ❬❇❆✘❈✬❘✁❲ ♣

♦❁♣✸❄✁➠✚❃❡✵❡✷

♥✒♦➈➣

➁ ↔

❄✂✘

❬❯➱ ã ❲

◆✆✹➊❍✼❏❭❑

▲⑥❴➈➑✡❞✚✡❞✆❁✏●▼➄■❍ ➣✒❛ ➉✆➌✎◆❀❥✘❦✮➑❅➒✳➒✶➵❀✹✟➸❩❄

❉✧❊✳✹✯❋✜●✈↕✔❍✟❁✌❝ ➣ ➁

↔❩↔

➉✟✾✈❄ ♥✆ü ◆☎✄ ✆ ❴✈❁✌❝■♣

❞ ❲ ✹ ❳✎❨ ❄ P✌◗ ③✾④ ✔ ✇✈✵✸❁ ➟ ✹✾❍✼❏❭❑▼▲ë↕❀●❃➄❄❍

➣✒❛ ➉✆➌✸❄

✺ ❱ ❁❃❂■❄ ❳❩❨ ➦❣✹ ➱ ❷ ➣ ➁ ↔ ❢ ❘❅❚✺♥❩ü

❜✄■ ❱ ✵✸➳✌❝❈✹ ➣ ➁ ↔

❄❈à❩á➈◆✁❏✟þ❡❝✶❞❡❢➝✵✖❑❏♥✧▲✄▼

◆✁◆✧❖✮➑❅➒✟❝✶❞❡❢➝◆✺Ü

♠

➑■➒✟❝

❲❩❐✔P✆❳❩❨

❄✯◗✥❊✌↕✖❧

♥✄❘❙❊✾❄✢✰✏✱ ❬ ❍✺❏❭❑▼▲❯❚❁❱❭①▲❴✟✰✏✱❁❱ ❱ ❝ ý

❷❅❴✼❜

❝❡❞❡❢✺➦❚✄ ✆ ❱✸➳✌❝✁♣

❍✺❏❭❑▼▲✄❋✮●s❧✘♥➃➑■➒✟❝❅③✟④ ➣ ➁ ↔

❄✯◗✧❊➊❄

✺

❫✾➦

♦ ✮ ❄✪❲ ✆ ❁✖❳✄❨❁❱✸➳✸❝✁♣✰♦➃♣✸❄■➠✚❃✜❱❬❩ P ❍✼❏❃❑▼▲

➞ ❱➈➟❭P❰❳✈❨ ❢ ❘➝❚ ➠ × ➮✼❁❡➦✁❄✖❱✎➳✎❝✶❢✹❩✯❪ ♦✣❫ ❋✳ã

❲

♣❃➀➝➁✁➂❡➁❃➀❈➄❈➅✎➆✸➇❰➉✟➄✺➋✺❄✺➌✸➍✆➎✳➄

❳✆❨

❢

CAD

➣ ➁ ↔

❄❵❴☞✮ ❬ ❶✰❷❣❁❭❂❅❄ P ý ➙ ❳❩❨ ❄❵◗✧❊ ❬ ❫❀❘✳❝

❲✆❐ ❄➀❡✧❛➈◆✤✄ ✆ ❱✸➳✌➽➊❷✄♣

❜❞❝

❡✧❢✄❣✩❩ P

NEDO

^✎✑✏

➮✓✒✄✔▼❍❀❏▼❑✾▲ ✆✍❯✖✕✷✗✚✙✜✛

✾❩❍✆➅✳Ï

✢

▲✑✣✄✤✆➧✎➨✎➩

ÿ

❫✂❴

RT

^✥

➌✄✦☞❂ ✧★✷✪ s

t × ❍✼❏❭❑▼▲ ✫✷✭✚✮➈❆❀❇✎❉✾❊

ÿ

Û✘✯✘✱✌❶✷✲✘✳✘✴❭❍✼❏❭❑

▲❺❴

ý

❝✣❢✧❣✄❤✳⑧✟❴

ý ã ❚ ❶ ✃ ➒ ❲ ♣

✐❦❥♠❧♦♥

[1] Itsuki Noda, Yasushi Hada, Jun-ichi Meguro, and

Hiroki Shimora: Information Sharing and Inte-

gration among Rescue Robots and Information

Systems, Proc. of IROS2007 Full-Day Workshop

MW-3 (Rescue Robotics), pp. 125–139 (2007)

[2] Itsuki NODA: Communication Protocol and

Data Format for GIS Integration, Proc. of

the 2nd International Conference on Ubiquitous

Robots and Ambient Intelligence, pp. KRW-058,

(2005)

[3] Open GIS Consotium, Inc.: Web Feature Ser-

vice Implementation Specificaton (OGC-02-058),

ver.1.0.0 edition,

http://portal.opengeospatial.org/files/

?artifact id=7176, (2002)

[4] Open GIS Consotium, Inc.: OpenGIS Geogra-

phy Markup Language(GML) Implementation

Specification (OGC-02-023r4), ver.3.00 edition,

http://www.opengis.org/docs/02-023r4.pdf,

(2003)

[5] Autodesk: AutoCAD DXF Reference,

http://usa.autodesk.com/adsk/servlet/item

?siteID=123112&id=8446698

[6] RibbonSoft: dxflib,

http://www.ribbonsoft.com/dxflib.html

[7]

^{♣❵qsr✯t}

,

^{✉✇✈✟①✄②}

,

^{③✻④✧⑤✄t}

,

^{⑥⑦✈⑨⑧✄⑩✧t}

,

^{❶❸❷✔❹}

❺

,

^{❻❼✈✣❽✜❾}

,

^{❿➁➀✥➂❙➃}

:

➄✄➅s➆✁➇✄➈✧➉❙➊✩➋✧➌✧➍✥➋

➎✻➏✝➐➒➑⑨➓✧➔❁→✪➣✄↔

➋✟↕✲➙

_,

➛✔➜✄➇✔➈✲➝✄➞✔➟✻➠➢➡➥➤

➦✄➧❬➨❼➩➫➧✧➭✲➯✲➲❙➳

➡➸➵✻➺✄➻

➑✲➼✯➽➚➾➶➪✄➹✩➘✪➴

➳ ➤

➦✄➧❬➨

➟✧➠ ➡➬➷✻➠❁➮

➔❙➱✄✃

AI

^{➳✪❐❮❒✯❰✻Ï ➠}

➎✄➏✄Ð

➼✖Ñ

, (2007)

5:

^{➋✝✆✟✞☎✠☛✡}

.

6: GoogleEarth

☞☛✌❬➋✝✍✟✎✑✏

➪✑✒✔✓☎✕

.