{"id":5127,"date":"2023-06-19T09:00:00","date_gmt":"2023-06-19T00:00:00","guid":{"rendered":"https:\/\/qard.is.tohoku.ac.jp\/T-Wave\/?p=5127"},"modified":"2023-06-19T09:00:00","modified_gmt":"2023-06-19T00:00:00","slug":"%e9%87%8f%e5%ad%90%e3%83%a2%e3%83%b3%e3%83%86%e3%82%ab%e3%83%ab%e3%83%ad%e6%b3%95%e3%81%a7%e7%84%a1%e4%ba%ba%e8%88%aa%e7%a9%ba%e6%a9%9f%e3%81%ae%e9%80%9a%e4%bf%a1%e7%b6%b2%e3%82%92%e4%bd%9c%e6%88%90","status":"publish","type":"post","link":"https:\/\/qard.is.tohoku.ac.jp\/T-Wave\/2023\/06\/19\/%e9%87%8f%e5%ad%90%e3%83%a2%e3%83%b3%e3%83%86%e3%82%ab%e3%83%ab%e3%83%ad%e6%b3%95%e3%81%a7%e7%84%a1%e4%ba%ba%e8%88%aa%e7%a9%ba%e6%a9%9f%e3%81%ae%e9%80%9a%e4%bf%a1%e7%b6%b2%e3%82%92%e4%bd%9c%e6%88%90\/","title":{"rendered":"\u91cf\u5b50\u30e2\u30f3\u30c6\u30ab\u30eb\u30ed\u6cd5\u3067\u7121\u4eba\u822a\u7a7a\u6a5f\u306e\u901a\u4fe1\u7db2\u3092\u4f5c\u6210\u3059\u308b"},"content":{"rendered":"\n<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_82_2 counter-hierarchy ez-toc-counter ez-toc-white ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<p class=\"ez-toc-title ez-toc-toggle\" style=\"cursor:pointer\">Table of Contents<\/p>\n<span class=\"ez-toc-title-toggle\"><a href=\"#\" class=\"ez-toc-pull-right ez-toc-btn ez-toc-btn-xs ez-toc-btn-default ez-toc-toggle\" aria-label=\"Toggle Table of Content\"><span class=\"ez-toc-js-icon-con\"><span class=\"\"><span class=\"eztoc-hide\" style=\"display:none;\">Toggle<\/span><span class=\"ez-toc-icon-toggle-span\"><svg style=\"fill: #999;color:#999\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" class=\"list-377408\" width=\"20px\" height=\"20px\" viewBox=\"0 0 24 24\" fill=\"none\"><path d=\"M6 6H4v2h2V6zm14 0H8v2h12V6zM4 11h2v2H4v-2zm16 0H8v2h12v-2zM4 16h2v2H4v-2zm16 0H8v2h12v-2z\" fill=\"currentColor\"><\/path><\/svg><svg style=\"fill: #999;color:#999\" class=\"arrow-unsorted-368013\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"10px\" height=\"10px\" viewBox=\"0 0 24 24\" version=\"1.2\" baseProfile=\"tiny\"><path d=\"M18.2 9.3l-6.2-6.3-6.2 6.3c-.2.2-.3.4-.3.7s.1.5.3.7c.2.2.4.3.7.3h11c.3 0 .5-.1.7-.3.2-.2.3-.5.3-.7s-.1-.5-.3-.7zM5.8 14.7l6.2 6.3 6.2-6.3c.2-.2.3-.5.3-.7s-.1-.5-.3-.7c-.2-.2-.4-.3-.7-.3h-11c-.3 0-.5.1-.7.3-.2.2-.3.5-.3.7s.1.5.3.7z\"\/><\/svg><\/span><\/span><\/span><\/a><\/span><\/div>\n<nav><ul class='ez-toc-list ez-toc-list-level-1 ' ><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-1\" href=\"https:\/\/qard.is.tohoku.ac.jp\/T-Wave\/2023\/06\/19\/%e9%87%8f%e5%ad%90%e3%83%a2%e3%83%b3%e3%83%86%e3%82%ab%e3%83%ab%e3%83%ad%e6%b3%95%e3%81%a7%e7%84%a1%e4%ba%ba%e8%88%aa%e7%a9%ba%e6%a9%9f%e3%81%ae%e9%80%9a%e4%bf%a1%e7%b6%b2%e3%82%92%e4%bd%9c%e6%88%90\/#%E6%96%87%E7%8C%AE%E6%83%85%E5%A0%B1\" >\u6587\u732e\u60c5\u5831<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/qard.is.tohoku.ac.jp\/T-Wave\/2023\/06\/19\/%e9%87%8f%e5%ad%90%e3%83%a2%e3%83%b3%e3%83%86%e3%82%ab%e3%83%ab%e3%83%ad%e6%b3%95%e3%81%a7%e7%84%a1%e4%ba%ba%e8%88%aa%e7%a9%ba%e6%a9%9f%e3%81%ae%e9%80%9a%e4%bf%a1%e7%b6%b2%e3%82%92%e4%bd%9c%e6%88%90\/#%E6%A6%82%E8%A6%81\" >\u6982\u8981<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/qard.is.tohoku.ac.jp\/T-Wave\/2023\/06\/19\/%e9%87%8f%e5%ad%90%e3%83%a2%e3%83%b3%e3%83%86%e3%82%ab%e3%83%ab%e3%83%ad%e6%b3%95%e3%81%a7%e7%84%a1%e4%ba%ba%e8%88%aa%e7%a9%ba%e6%a9%9f%e3%81%ae%e9%80%9a%e4%bf%a1%e7%b6%b2%e3%82%92%e4%bd%9c%e6%88%90\/#%E8%83%8C%E6%99%AF%E3%83%BB%E8%AA%B2%E9%A1%8C\" >\u80cc\u666f\u30fb\u8ab2\u984c<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-4\" href=\"https:\/\/qard.is.tohoku.ac.jp\/T-Wave\/2023\/06\/19\/%e9%87%8f%e5%ad%90%e3%83%a2%e3%83%b3%e3%83%86%e3%82%ab%e3%83%ab%e3%83%ad%e6%b3%95%e3%81%a7%e7%84%a1%e4%ba%ba%e8%88%aa%e7%a9%ba%e6%a9%9f%e3%81%ae%e9%80%9a%e4%bf%a1%e7%b6%b2%e3%82%92%e4%bd%9c%e6%88%90\/#%E6%96%B9%E6%B3%95\" >\u65b9\u6cd5<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-5\" href=\"https:\/\/qard.is.tohoku.ac.jp\/T-Wave\/2023\/06\/19\/%e9%87%8f%e5%ad%90%e3%83%a2%e3%83%b3%e3%83%86%e3%82%ab%e3%83%ab%e3%83%ad%e6%b3%95%e3%81%a7%e7%84%a1%e4%ba%ba%e8%88%aa%e7%a9%ba%e6%a9%9f%e3%81%ae%e9%80%9a%e4%bf%a1%e7%b6%b2%e3%82%92%e4%bd%9c%e6%88%90\/#%E3%82%B0%E3%83%A9%E3%83%95%E3%81%B8%E3%81%AE%E5%A4%89%E6%8F%9B\" >\u30b0\u30e9\u30d5\u3078\u306e\u5909\u63db<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-6\" href=\"https:\/\/qard.is.tohoku.ac.jp\/T-Wave\/2023\/06\/19\/%e9%87%8f%e5%ad%90%e3%83%a2%e3%83%b3%e3%83%86%e3%82%ab%e3%83%ab%e3%83%ad%e6%b3%95%e3%81%a7%e7%84%a1%e4%ba%ba%e8%88%aa%e7%a9%ba%e6%a9%9f%e3%81%ae%e9%80%9a%e4%bf%a1%e7%b6%b2%e3%82%92%e4%bd%9c%e6%88%90\/#%E5%AE%9A%E5%BC%8F%E5%8C%96\" >\u5b9a\u5f0f\u5316<\/a><ul class='ez-toc-list-level-4' ><li class='ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-7\" href=\"https:\/\/qard.is.tohoku.ac.jp\/T-Wave\/2023\/06\/19\/%e9%87%8f%e5%ad%90%e3%83%a2%e3%83%b3%e3%83%86%e3%82%ab%e3%83%ab%e3%83%ad%e6%b3%95%e3%81%a7%e7%84%a1%e4%ba%ba%e8%88%aa%e7%a9%ba%e6%a9%9f%e3%81%ae%e9%80%9a%e4%bf%a1%e7%b6%b2%e3%82%92%e4%bd%9c%e6%88%90\/#%E7%9B%AE%E7%9A%84%E9%96%A2%E6%95%B0\" >\u76ee\u7684\u95a2\u6570<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-8\" href=\"https:\/\/qard.is.tohoku.ac.jp\/T-Wave\/2023\/06\/19\/%e9%87%8f%e5%ad%90%e3%83%a2%e3%83%b3%e3%83%86%e3%82%ab%e3%83%ab%e3%83%ad%e6%b3%95%e3%81%a7%e7%84%a1%e4%ba%ba%e8%88%aa%e7%a9%ba%e6%a9%9f%e3%81%ae%e9%80%9a%e4%bf%a1%e7%b6%b2%e3%82%92%e4%bd%9c%e6%88%90\/#%E5%88%B6%E7%B4%84%E9%A0%85\" >\u5236\u7d04\u9805<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-9\" href=\"https:\/\/qard.is.tohoku.ac.jp\/T-Wave\/2023\/06\/19\/%e9%87%8f%e5%ad%90%e3%83%a2%e3%83%b3%e3%83%86%e3%82%ab%e3%83%ab%e3%83%ad%e6%b3%95%e3%81%a7%e7%84%a1%e4%ba%ba%e8%88%aa%e7%a9%ba%e6%a9%9f%e3%81%ae%e9%80%9a%e4%bf%a1%e7%b6%b2%e3%82%92%e4%bd%9c%e6%88%90\/#%E5%88%B6%E7%B4%84%E9%A0%851\" >\u5236\u7d04\u98051<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-10\" href=\"https:\/\/qard.is.tohoku.ac.jp\/T-Wave\/2023\/06\/19\/%e9%87%8f%e5%ad%90%e3%83%a2%e3%83%b3%e3%83%86%e3%82%ab%e3%83%ab%e3%83%ad%e6%b3%95%e3%81%a7%e7%84%a1%e4%ba%ba%e8%88%aa%e7%a9%ba%e6%a9%9f%e3%81%ae%e9%80%9a%e4%bf%a1%e7%b6%b2%e3%82%92%e4%bd%9c%e6%88%90\/#%E5%88%B6%E7%B4%84%E9%A0%852\" >\u5236\u7d04\u98052<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-11\" href=\"https:\/\/qard.is.tohoku.ac.jp\/T-Wave\/2023\/06\/19\/%e9%87%8f%e5%ad%90%e3%83%a2%e3%83%b3%e3%83%86%e3%82%ab%e3%83%ab%e3%83%ad%e6%b3%95%e3%81%a7%e7%84%a1%e4%ba%ba%e8%88%aa%e7%a9%ba%e6%a9%9f%e3%81%ae%e9%80%9a%e4%bf%a1%e7%b6%b2%e3%82%92%e4%bd%9c%e6%88%90\/#%E5%88%B6%E7%B4%84%E9%A0%853\" >\u5236\u7d04\u98053<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-12\" href=\"https:\/\/qard.is.tohoku.ac.jp\/T-Wave\/2023\/06\/19\/%e9%87%8f%e5%ad%90%e3%83%a2%e3%83%b3%e3%83%86%e3%82%ab%e3%83%ab%e3%83%ad%e6%b3%95%e3%81%a7%e7%84%a1%e4%ba%ba%e8%88%aa%e7%a9%ba%e6%a9%9f%e3%81%ae%e9%80%9a%e4%bf%a1%e7%b6%b2%e3%82%92%e4%bd%9c%e6%88%90\/#%E9%87%8F%E5%AD%90%E3%83%A2%E3%83%B3%E3%83%86%E3%82%AB%E3%83%AB%E3%83%AD%E6%B3%95\" >\u91cf\u5b50\u30e2\u30f3\u30c6\u30ab\u30eb\u30ed\u6cd5<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-13\" href=\"https:\/\/qard.is.tohoku.ac.jp\/T-Wave\/2023\/06\/19\/%e9%87%8f%e5%ad%90%e3%83%a2%e3%83%b3%e3%83%86%e3%82%ab%e3%83%ab%e3%83%ad%e6%b3%95%e3%81%a7%e7%84%a1%e4%ba%ba%e8%88%aa%e7%a9%ba%e6%a9%9f%e3%81%ae%e9%80%9a%e4%bf%a1%e7%b6%b2%e3%82%92%e4%bd%9c%e6%88%90\/#%E5%AE%9F%E9%A8%93\" >\u5b9f\u9a13<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-14\" href=\"https:\/\/qard.is.tohoku.ac.jp\/T-Wave\/2023\/06\/19\/%e9%87%8f%e5%ad%90%e3%83%a2%e3%83%b3%e3%83%86%e3%82%ab%e3%83%ab%e3%83%ad%e6%b3%95%e3%81%a7%e7%84%a1%e4%ba%ba%e8%88%aa%e7%a9%ba%e6%a9%9f%e3%81%ae%e9%80%9a%e4%bf%a1%e7%b6%b2%e3%82%92%e4%bd%9c%e6%88%90\/#%E7%B5%90%E6%9E%9C\" >\u7d50\u679c<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-15\" href=\"https:\/\/qard.is.tohoku.ac.jp\/T-Wave\/2023\/06\/19\/%e9%87%8f%e5%ad%90%e3%83%a2%e3%83%b3%e3%83%86%e3%82%ab%e3%83%ab%e3%83%ad%e6%b3%95%e3%81%a7%e7%84%a1%e4%ba%ba%e8%88%aa%e7%a9%ba%e6%a9%9f%e3%81%ae%e9%80%9a%e4%bf%a1%e7%b6%b2%e3%82%92%e4%bd%9c%e6%88%90\/#%E7%B5%90%E8%AB%96\" >\u7d50\u8ad6<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-16\" href=\"https:\/\/qard.is.tohoku.ac.jp\/T-Wave\/2023\/06\/19\/%e9%87%8f%e5%ad%90%e3%83%a2%e3%83%b3%e3%83%86%e3%82%ab%e3%83%ab%e3%83%ad%e6%b3%95%e3%81%a7%e7%84%a1%e4%ba%ba%e8%88%aa%e7%a9%ba%e6%a9%9f%e3%81%ae%e9%80%9a%e4%bf%a1%e7%b6%b2%e3%82%92%e4%bd%9c%e6%88%90\/#%E3%81%82%E3%81%A8%E3%81%8C%E3%81%8D\" >\u3042\u3068\u304c\u304d<\/a><\/li><\/ul><\/nav><\/div>\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E6%96%87%E7%8C%AE%E6%83%85%E5%A0%B1\"><\/span>\u6587\u732e\u60c5\u5831<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<ul>\n<li>\u30bf\u30a4\u30c8\u30eb\uff1a<span>Path Integral Monte Carlo Quantum Annealing-based Clustering and Routes Optimization of Clustered UAV Network<\/span><\/li>\n<li>\u8457\u8005\uff1a<span>Chongle Zhang, Changhua Zhu, Yuxin Li, Min Ni, Yunpeng Zhu<\/span><\/li>\n<li>\u66f8\u8a8c\u60c5\u5831\uff1a<span><a href=\"https:\/\/doi.org\/10.1109\/PAAP54281.2021.9720448\">https:\/\/doi.org\/10.1109\/PAAP54281.2021.9720448<\/a><\/span><\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E6%A6%82%E8%A6%81\"><\/span>\u6982\u8981<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>\u7121\u4eba\u822a\u7a7a\u6a5f\uff08\u4ee5\u4e0bUAV\uff09\u306f\u4ed6\u306eUAV\u3084\u7ba1\u5236\u5ba4\u3068\u901a\u4fe1\u3059\u308b\u969b\u306b\u30a8\u30cd\u30eb\u30ae\u30fc\u3092\u6d88\u8cbb\u3057\u307e\u3059\u3002UAV\u304c\u3069\u306eUAV\u3084\u7ba1\u5236\u5ba4\u3068\u901a\u4fe1\u3092\u884c\u3046\u304b\u3092\u8868\u3057\u305f\u3082\u306e\u3092\u7121\u7dda\u901a\u4fe1\u7db2\u3068\u547c\u3073\u307e\u3059\u304c\u3001\u6d88\u8cbb\u3059\u308b\u30a8\u30cd\u30eb\u30ae\u30fc\u304c\u5c0f\u3055\u304f\u306a\u308b\u3088\u3046\u306a\u7121\u7dda\u901a\u4fe1\u7db2\u3092\u4f5c\u6210\u3057\u307e\u3059\u3002\u3053\u306e\u8ad6\u6587\u3067\u306f\u91cf\u5b50\u30a2\u30cb\u30fc\u30ea\u30f3\u30b0\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3059\u308b\u624b\u6cd5\u3067\u3042\u308b\u91cf\u5b50\u30e2\u30f3\u30c6\u30ab\u30eb\u30ed\u6cd5\u306b\u3088\u3063\u3066\u7121\u7dda\u901a\u4fe1\u7db2\u3092\u4f5c\u6210\u3059\u308b\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3092\u63d0\u6848\u3057\u307e\u3057\u305f\u3002\u307e\u305f\u5b9f\u9a13\u3067\u306f\u6700\u9069\u5316\u624b\u6cd5\u306e\u4e00\u3064\u3067\u3042\u308bSimulated Annealing\uff08\u4ee5\u4e0bSA\uff09\u3067\u4f5c\u6210\u3057\u305f\u5834\u5408\u3068\u306e\u6bd4\u8f03\u3092\u884c\u3044\u307e\u3059\u3002\u5b9f\u9a13\u306e\u7d50\u679c\u3001\u91cf\u5b50\u30e2\u30f3\u30c6\u30ab\u30eb\u30ed\u6cd5\u3067\u306fSA\u306e\u3068\u304d\u3088\u308a\u3082\u6d88\u8cbb\u3059\u308b\u30a8\u30cd\u30eb\u30ae\u30fc\u304c\u5c0f\u3055\u3044\u7121\u7dda\u901a\u4fe1\u7db2\u3092\u4f5c\u6210\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E8%83%8C%E6%99%AF%E3%83%BB%E8%AA%B2%E9%A1%8C\"><\/span>\u80cc\u666f\u30fb\u8ab2\u984c<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>UAV\u3068\u306f\u30c9\u30ed\u30fc\u30f3\u306e\u3088\u3046\u306a\u4eba\u9593\u304c\u642d\u4e57\u305b\u305a\u306b\u7ba1\u5236\u5ba4\u306a\u3069\u3068\u901a\u4fe1\u3057\u306a\u304c\u3089\u98db\u884c\u3059\u308b\u822a\u7a7a\u6a5f\u3092\u6307\u3057\u307e\u3059\u3002\u73fe\u5728UAV\u306f\u8ecd\u4e8b\u30fb\u8fb2\u696d\u3068\u3044\u3063\u305f\u69d8\u3005\u306a\u5206\u91ce\u3067\u5e83\u304f\u4f7f\u308f\u308c\u3066\u3044\u307e\u3059\u3002\u4e00\u65b9\u3067UAV\u306f\u901a\u4fe1\u3059\u308b\u969b\u306b\u30a8\u30cd\u30eb\u30ae\u30fc\u3092\u6d88\u8cbb\u3059\u308b\u305f\u3081\u3001\u30a8\u30cd\u30eb\u30ae\u30fc\u6d88\u8cbb\u91cf\u306e\u5c0f\u3055\u3044\u901a\u4fe1\u7db2\u3092\u4f5c\u6210\u3059\u308b\u3053\u3068\u304c\u91cd\u8981\u306b\u306a\u308a\u307e\u3059\u3002\u3053\u306e\u901a\u4fe1\u7db2\u306e\u4f5c\u6210\u306f\u7d44\u5408\u308f\u305b\u6700\u9069\u5316\u554f\u984c\u3068\u3057\u3066\u8868\u3059\u3053\u3068\u304c\u3067\u304d\u3001\u7d44\u5408\u308f\u305b\u6700\u9069\u5316\u554f\u984c\u3092\u89e3\u304f\u305f\u3081\u306b\u4f7f\u308f\u308c\u308b\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306bSA\u304c\u3042\u308a\u307e\u3059\u3002\u643a\u5e2f\u96fb\u8a71\u3084\u4e57\u7528\u8eca\u306b\u3064\u3044\u3066\u306e\u901a\u4fe1\u7db2\u306e\u4f5c\u6210\u3092SA\u3067\u884c\u3063\u305f\u5148\u884c\u7814\u7a76\u306f\u3042\u308a\u307e\u3059\u304c\u3001SA\u3067\u306f\u5341\u5206\u306b\u30a8\u30cd\u30eb\u30ae\u30fc\u6d88\u8cbb\u91cf\u304c\u5c0f\u3055\u3044\u89e3\u3092\u5f97\u3089\u308c\u306a\u3044\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u3002\u4e00\u65b9\u3067\u91cf\u5b50\u30e2\u30f3\u30c6\u30ab\u30eb\u30ed\u6cd5\u306fSA\u3068\u6bd4\u8f03\u3059\u308b\u3068\u6700\u9069\u306a\u89e3\u3092\u5f97\u3089\u308c\u308b\u3053\u3068\u304c\u671f\u5f85\u3055\u308c\u308b\u6700\u9069\u5316\u624b\u6cd5\u3067\u3042\u308a\u3001SA\u3088\u308a\u3082\u30a8\u30cd\u30eb\u30ae\u30fc\u6d88\u8cbb\u91cf\u304c\u5c0f\u3055\u3044\u7121\u7dda\u901a\u4fe1\u7db2\u3092\u4f5c\u6210\u3067\u304d\u308b\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u3002\u305d\u3053\u3067\u672c\u8ad6\u6587\u3067\u306f\u91cf\u5b50\u30e2\u30f3\u30c6\u30ab\u30eb\u30ed\u6cd5\u306b\u3088\u308a\u7121\u7dda\u901a\u4fe1\u7db2\u3092\u4f5c\u6210\u3057\u3001SA\u3068\u306e\u6bd4\u8f03\u3092\u884c\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E6%96%B9%E6%B3%95\"><\/span>\u65b9\u6cd5<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>\u76ee\u6a19\u306f\u30a8\u30cd\u30eb\u30ae\u30fc\u6d88\u8cbb\u91cf\u304c\u6700\u3082\u5c0f\u3055\u3044\u7121\u7dda\u901a\u4fe1\u7db2\u3092\u5f97\u308b\u3053\u3068\u3067\u3059\u3002\u3053\u306e\u305f\u3081\u306b\u3069\u306eUAV\u9593\u540c\u58eb\u3067\u901a\u4fe1\u3092\u884c\u3046\u304b\u3092\u6c42\u3081\u307e\u3059\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%82%B0%E3%83%A9%E3%83%95%E3%81%B8%E3%81%AE%E5%A4%89%E6%8F%9B\"><\/span>\u30b0\u30e9\u30d5\u3078\u306e\u5909\u63db<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>\u307e\u305a\u7ba1\u5236\u5ba4\u3068UAV\u3092\u9802\u70b9\u3001\u901a\u4fe1\u306b\u304a\u3051\u308b\u9001\u53d7\u4fe1\u306e\u95a2\u4fc2\u3092\u8fba\u3001\u305d\u306e\u8fba\u306e\u91cd\u307f\u3092UAV\u540c\u58eb\u3067\u901a\u4fe1\u3059\u308b\u969b\u306b\u6d88\u8cbb\u3055\u308c\u308b\u30a8\u30cd\u30eb\u30ae\u30fc\u91cf\u3068\u307f\u306a\u3059\u3053\u3068\u3067\u7121\u7dda\u901a\u4fe1\u7db2\u3092\u6709\u5411\u30b0\u30e9\u30d5\u3068\u3057\u3066\u8868\u73fe\u3057\u307e\u3059\u3002\u56f31\u306b\u4f8b\u3092\u793a\u3057\u307e\u3057\u305f\u3002\u3053\u3053\u3067\u9802\u70b91\u306f\u7ba1\u5236\u5ba4\u3092\u8868\u3057\u307e\u3059\u3002\u6709\u5411\u30b0\u30e9\u30d5\u3067\u8003\u3048\u308b\u3053\u3068\u3067\u3001UAV\u9593\u306e\u901a\u4fe1\u3092\u6709\u5411\u30b0\u30e9\u30d5\u4e0a\u306e\u8fba\u3068\u3057\u3066\u8003\u3048\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img decoding=\"async\" src=\"\/T-Wave\/wp-content\/uploads\/2022\/11\/29d3bc99193cb0b837fb8cc53f050ae5.png\" alt=\"\" class=\"wp-image-5128\"\/><figcaption class=\"wp-element-caption\">\u56f31\uff1a\u7121\u7dda\u901a\u4fe1\u7db2\u3092\u6709\u5411\u30b0\u30e9\u30d5\u3078\u5909\u63db\u3057\u305f\u4f8b<\/figcaption><\/figure>\n<\/div>\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E5%AE%9A%E5%BC%8F%E5%8C%96\"><\/span>\u5b9a\u5f0f\u5316<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>\u307e\u305a\u4e8c\u5024\u5909\u6570\u3068\u3057\u3066$s_{i,j}$\u3092\u5b9a\u7fa9\u3057\u307e\u3059\u3002\u3053\u308c\u306f\u9802\u70b9$i$\u304b\u3089\u9802\u70b9$j$\u306b\u8fba\u3092\u751f\u3084\u3059\u3068\u304d\u306b1\u3001\u305d\u3046\u3067\u306a\u3044\u3068\u304d\u306b0\u3068\u306a\u308b\u5909\u6570\u3067\u3059\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E7%9B%AE%E7%9A%84%E9%96%A2%E6%95%B0\"><\/span>\u76ee\u7684\u95a2\u6570<span class=\"ez-toc-section-end\"><\/span><\/h4>\n\n\n\n<p>\u5b9f\u969b\u306b\u901a\u4fe1\u304c\u884c\u308f\u308c\u308bUAV\u9593\u3067\u6d88\u8cbb\u3055\u308c\u308b\u30a8\u30cd\u30eb\u30ae\u30fc\u91cf\u306e\u7dcf\u548c\u3001\u3064\u307e\u308a\u6709\u5411\u30b0\u30e9\u30d5\u306e\u8fba\u306e\u91cd\u307f\u306e\u7dcf\u548c\u3092\u6700\u5c0f\u5316\u3057\u307e\u3059\u3002\u3053\u308c\u306f\u4ee5\u4e0b\u306e(1)\u5f0f\u306e\u3088\u3046\u306b\u5b9a\u5f0f\u5316\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u3053\u3053\u3067$w_{i,j}$\u306f\u9802\u70b9$i$\u304b\u3089\u9802\u70b9$j$\u3092\u7d50\u3076\u8fba\u306e\u91cd\u307f\u3092\u8868\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p>$$<br>H_{0}=\\sum_{i,j} w_{i,j} s_{i,j} \\tag{1}<br>$$<\/p>\n\n\n\n<p>\u8fba\u306e\u91cd\u307f$w_{i,j}$\u306f\u4ee5\u4e0b\u306e(2)\u5f0f\u3067\u8868\u3055\u308c\u307e\u3059\u3002$d_{i,j}$\u306fUAV\u540c\u58eb\u306e\u8ddd\u96e2\u3092\u8868\u3057\u307e\u3059\u3002$E_r$\u306f\u7121\u7dda\u901a\u4fe1\u3092\u884c\u3046\u305f\u3081\u306eUAV\u306e\u6a5f\u5668\u306b\u5fc5\u8981\u306a\u30a8\u30cd\u30eb\u30ae\u30fc\u91cf\u3092\u8868\u3059\u5b9a\u6570\u3001$\\varepsilon_{\\text{f}_\\text{s}}$\u3001$\\varepsilon_{\\text{mp}}$\u306f\u901a\u4fe1\u8ddd\u96e2\u306b\u5bfe\u3059\u308b\u30b3\u30b9\u30c8\u3092\u8868\u3059\u5b9a\u6570\u3001$d_0$\u306f\u8ddd\u96e2\u306b\u3064\u3044\u3066\u306e\u3057\u304d\u3044\u5024\u3067\u3059\u3002\u4eca\u56de\u306f\u3053\u308c\u3089\u306e\u5177\u4f53\u7684\u306a\u5024\u306f$E_r=50 \\mathrm{nJ\/bit}$\u3001$\\varepsilon_{\\text{f}_\\text{s}}=10\\mathrm{pJ\/bit\/m^2}$\u3001$\\varepsilon_\\text{mp}=0.0013\\mathrm{pJ\/bit\/m^4} $\u3001$d_0=87.7\\mathrm{m}$\u3068\u3057\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<p>$$<br>w_{i,j}=E_s(d_{i,j})<br>=\\left\\{<br>\\begin{array}{ll}<br>E_r + \\varepsilon_{\\text{f}_\\text{s}} d_{i,j}^2 &amp; d_{i,j} \\leq d_0 \\\\<br>E_r + \\varepsilon_\\text{mp} d_{i,j}^4 &amp; d_{i,j} &gt; d_0<br>\\end{array}<br>\\right.<br>\\tag{2}<br>$$<\/p>\n\n\n\n<h4 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E5%88%B6%E7%B4%84%E9%A0%85\"><\/span>\u5236\u7d04\u9805<span class=\"ez-toc-section-end\"><\/span><\/h4>\n\n\n\n<p>\u5b9f\u969b\u306b\u5229\u7528\u3067\u304d\u308b\u7121\u7dda\u901a\u4fe1\u7db2\u3092\u4f5c\u6210\u3059\u308b\u305f\u3081\u306b\u306f<span>UAV<\/span>\u306e\u6027\u80fd\u306b\u3088\u308b\u3044\u304f\u3064\u304b\u306e\u5236\u7d04\u304c\u3042\u308a\u307e\u3059\u3002\u3053\u306e\u5236\u7d04\u3092\u5236\u7d04\u9805\u3068\u3057\u3066\u6700\u5c0f\u5316\u554f\u984c\u306b\u5b9a\u5f0f\u5316\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E5%88%B6%E7%B4%84%E9%A0%851\"><\/span>\u5236\u7d04\u98051<span class=\"ez-toc-section-end\"><\/span><\/h4>\n\n\n\n<p>\u3059\u3079\u3066\u306eUAV\u306f\u4ed6\u306eUAV\u3084\u7ba1\u5236\u5ba4\u3068\u901a\u4fe1\u3092\u884c\u3044\u306a\u304c\u3089\u98db\u884c\u3057\u307e\u3059\u3002\u305d\u3053\u3067\u3069\u306eUAV\u3082\u4ed6\u306eUAV\u307e\u305f\u306f\u7ba1\u5236\u5ba4\u306e\u3046\u3061\u3069\u308c\u304b\u4e00\u3064\u304b\u3089\u60c5\u5831\u3092\u53d7\u4fe1\u3059\u308b\u5236\u7d04\u3092\u52a0\u3048\u307e\u3059\u3002\u3053\u3053\u3067\u305d\u308c\u305e\u308c\u306eUAV\u306b\u3064\u304d\u53d7\u4fe1\u6e90\u306f\uff11\u3064\u3042\u308c\u3070\u5341\u5206\u3067\u3042\u308a\u30012\u3064\u4ee5\u4e0a\u306eUAV\u304b\u3089\u53d7\u4fe1\u3059\u308b\u3053\u3068\u306f\u6d88\u8cbb\u3059\u308b\u30a8\u30cd\u30eb\u30ae\u30fc\u91cf\u304c\u5897\u52a0\u3059\u308b\u305f\u3081\u4e0d\u8981\u3067\u3059\u3002\u3053\u308c\u3092\u6709\u5411\u30b0\u30e9\u30d5\u3067\u8003\u3048\u308b\u3068\u3069\u306e\u9802\u70b9\u3082\u4ed6\u306e\u9802\u70b9\u304b\u3089\u5165\u308b\u8fba\u304c1\u672c\u3060\u3051\u3042\u308b\u3068\u3044\u3046\u5236\u7d04\u3067\u3059\u3002\u3053\u308c\u306f\u4ee5\u4e0b\u306e(3)\u5f0f\u306e\u3088\u3046\u306b\u5b9a\u5f0f\u5316\u3055\u308c\u307e\u3059\u3002\u3053\u3053\u3067$B$\u306f\u9802\u70b9\u6570\u3092\u8868\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p>$$<br>H_1=\\sum_{j=2}^B \\left(\\sum_{i} s_{i,j} &#8211; 1\\right)^2 \\tag{3}<br>$$<\/p>\n\n\n\n<p>$\\sum_{i} s_{i,j}$\u306f\u9802\u70b9$i$\u306b\u5165\u308b\u8fba\u6570\u3092\u8868\u3057\u307e\u3059\u3002\u5236\u7d04\u3092\u6e80\u305f\u3057\u3066\u9802\u70b9$i$\u306b\u5165\u308b\u8fba\u306e\u6570\u304c1\u306e\u3068\u304d$(\\sum_i s_{i,j} &#8211; 1)^2 = 0$\u3068\u306a\u308a\u6700\u5c0f\u3068\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E5%88%B6%E7%B4%84%E9%A0%852\"><\/span>\u5236\u7d04\u98052<span class=\"ez-toc-section-end\"><\/span><\/h4>\n\n\n\n<p>UAV\u306f\u6a5f\u4f53\u306e\u6027\u80fd\u4e0a\u306e\u554f\u984c\u306b\u3088\u308a\u901a\u4fe1\u3092\u884c\u3046\u3053\u3068\u304c\u3067\u304d\u308bUAV\u306e\u6570\u306b\u5236\u9650\u304c\u3042\u308a\u307e\u3059\u3002\u3053\u306e\u305f\u3081UAV\u304c\u4e00\u5b9a\u306e\u6570\u3092\u8d85\u3048\u308bUAV\u3068\u901a\u4fe1\u3092\u884c\u308f\u306a\u3044\u3068\u3044\u3046\u5236\u7d04\u3092\u52a0\u3048\u307e\u3059\u3002\u3053\u308c\u3092\u6709\u5411\u30b0\u30e9\u30d5\u3067\u8003\u3048\u308b\u3068\u5404\u9802\u70b9\u304b\u3089\u51fa\u308b\u8fba\u6570\u306b\u5236\u9650\u304c\u3042\u308b\u3053\u3068\u3092\u8868\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u9802\u70b9\u304b\u3089\u51fa\u308b\u8fba\u306e\u6570\u306b\u5bfe\u3059\u308b\u5236\u7d04\u306e\u5b9a\u5f0f\u5316\u306b\u3064\u3044\u3066\u8003\u3048\u307e\u3059\u3002\u307e\u305a$\\sum_j s_{i,j}$\u306f\u9802\u70b9$\\j$\u304b\u3089\u51fa\u308b\u8fba\u6570\u3092\u8868\u3057\u3066\u3044\u307e\u3059\u3002\u9802\u70b9\u304b\u3089\u51fa\u308b\u8fba\u6570\u304c$\\Delta$\u672c\u4ee5\u4e0b\u3067\u3042\u308b\u3068\u304d\u306f$\\sum_j s_{i,j} &#8211; 1$\u304c$\\sum_j s_{i,j} -1$ \u3068$\\Delta-1$\u306e\u5c0f\u3055\u3044\u65b9\u3068\u4e00\u81f4\u3057\u307e\u3059\u3002\u306a\u305c\u306a\u3089\u9802\u70b9\u304b\u3089\u51fa\u308b\u8fba\u6570\u304c$\\Delta$ \u672c\u4ee5\u4e0b\u3067\u3042\u308b\u3068\u304d\u306f$\\sum_j s_{i,j} &#8211; 1 \\leq \\Delta &#8211; 1$\u3067\u3042\u308b\u306e\u3067$\\sum_{j} s_{i,j}-1 = \\min(\\sum_{j} s_{i,j}-1, \\Delta &#8211; 1)$\u3068\u306a\u308a\u307e\u3059\u304c\u3001\u9802\u70b9\u304b\u3089\u51fa\u308b\u8fba\u6570\u304c$\\Delta$\u672c\u3088\u308a\u591a\u3044\u3068\u304d\u306f$\\sum_{j}s_{i,j}-1&gt;\\Delta-1$\u3067\u3042\u308b\u306e\u3067$\\min(\\sum_j s_{i,j} -1, \\Delta -1)=\\Delta &#8211; 1$\u3068\u306a\u308a\u3001$\\sum_{j} s_{i,j} -1$\u3068\u4e00\u81f4\u3057\u306a\u304f\u306a\u308b\u304b\u3089\u3067\u3059\u3002\u3064\u307e\u308a\u5236\u7d04\u3092\u6e80\u305f\u3059\u305f\u3081\u306b\u306f\u7ba1\u5236\u5ba4\u4ee5\u5916\u306e\u9802\u70b9$2 \\leq i \\leq B$ \u306b\u3064\u3044\u3066$\\sum_{j} s_{i,j}-1 = \\min(\\sum_{j} s_{i,j}-1, \\Delta &#8211; 1)$\u3092\u6e80\u305f\u3059\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u305d\u3053\u3067$\\min(\\sum_{j} s_{i,j}-1, \\Delta &#8211; 1)$\u3092\u8868\u3059\u305f\u3081\u306b$E_{i,e}$\u3092\u5c0e\u5165\u3057\u307e\u3059\u3002$E_{i,e}$\u306e\u5b9a\u7fa9\u306f\u4ee5\u4e0b\u306e(5)\u5f0f\u3067\u8868\u3055\u308c\u307e\u3059\u3002<\/p>\n\n\n\n<p>$$<br>E_{i,e} = \\left\\{<br>\\begin{array}{ll}<br>0 &amp; e \\geq \\sum_j s_{i,j}\\\\<br>1 &amp; e &lt; \\sum_j s_{i,j}<br>\\end{array}<br>\\right.<br>\\tag{5}<br>$$<\/p>\n\n\n\n<p>\u305d\u308c\u305e\u308c\u306e$e$\u306e\u5024\u306b\u5bfe\u3059\u308b$E_{i,e}$\u306e\u5024\u3068\u3001$\\Delta &lt; \\sum_j s_{i,j}$\u3001$\\sum_j s_{i,j} \\leq \\Delta$ \u305d\u308c\u305e\u308c\u306e\u3068\u304d\u306e$\\sum_{e=1}^{\\Delta-1} E_{i,e}$\u306e\u5024\u3092\u56f32\u306b\u793a\u3057\u307e\u3057\u305f\u3002\u56f32\u304b\u3089$\\sum_{e=1}^{\\Delta-1} E_{i,e} = \\min(\\sum_j s_{i,j} &#8211; 1, \\Delta &#8211; 1 )$\u3068\u306a\u308b\u3053\u3068\u304c\u78ba\u8a8d\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u4ee5\u4e0a\u3088\u308a\u5236\u7d04\u98052\u306e\u5b9a\u5f0f\u5316\u306f\u4ee5\u4e0b\u306e(4)\u5f0f\u3067\u8868\u3055\u308c\u307e\u3059\u3002\u3053\u3053\u3067$\\Delta$\u306f\u9802\u70b9\u304b\u3089\u51fa\u308b\u3053\u3068\u306e\u3067\u304d\u308b\u6700\u5927\u306e\u8fba\u6570\u3092\u8868\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p>$$<br>H_2 = \\sum_{i=2}^B \\left(\\sum_{j} s_{i,j} &#8211; \\sum_{e=1}^{\\Delta &#8211; 1} E_{i,e} \\right)^2 \\tag{4}<br>$$<\/p>\n\n\n\n<p>\u5236\u7d04\u3092\u6e80\u305f\u3059\u3088\u3046\u306b\u9802\u70b9\u304b\u3089\u51fa\u308b\u8fba\u6570\u304c$\\Delta$\u672c\u4ee5\u4e0b\u3067\u3042\u308b\u3068\u304d\u3001\u3064\u307e\u308a$\\sum_j s_{i,j} \\leq \\Delta$\u306e\u3068\u304d\u306f$(\\sum_j s_{i,j} &#8211; \\sum_{e=1}^{\\Delta-1} E_{i,e})^2 = (\\sum_j s_{i,j} &#8211; (\\sum_{j} s_{i,j} &#8211; 1))^2=1$\u3068\u306a\u308a\u6700\u5c0f\u3068\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u306a\u304a\u8ad6\u6587\u3067\u306f\u3053\u306e\u5236\u7d04\u9805\u306b\u3064\u3044\u3066\u9802\u70b9\u304b\u3089\u51fa\u308b\u8fba\u6570\u3092$\\Delta &#8211; 1$\u672c\u4ee5\u4e0b\u306b\u5236\u9650\u3059\u308b\u3068\u3042\u308a\u307e\u3057\u305f\u304c\u3001\u3053\u308c\u306f$\\Delta$ \u672c\u4ee5\u4e0b\u306e\u8aa4\u308a\u3067\u3042\u308b\u3068\u8003\u3048\u3089\u308c\u307e\u3059\u3002\u9802\u70b9\u304b\u3089\u51fa\u308b\u8fba\u306e\u672c\u6570\u304c\u3061\u3087\u3046\u3069$\\Delta$\u672c\u306e\u3068\u304d$\\sum_{j} s_{i,j} = \\Delta$\u3067\u3042\u308b\u304b\u3089$\\sum_{e=1}^{\\Delta-1} E_{i,e} = \\sum_j s_{i,j} &#8211; 1$\u3068\u306a\u308a\u3001\u3053\u306e\u3068\u304d\u306f$(\\sum_{j}  s_{i,j} &#8211; \\sum_{e=1}^{\\Delta-1} E_{i,e})^2$\u306f\u6700\u5c0f\u5024\u3067\u3042\u308b1\u3092\u3068\u308a\u3001(4)\u5f0f\u306e\u5b9a\u5f0f\u5316\u3067\u306f\u9802\u70b9\u304b\u3089\u51fa\u308b\u8fba\u306e\u672c\u6570\u304c\u3061\u3087\u3046\u3069$\\Delta$\u672c\u306e\u3068\u304d\u306f\u5236\u7d04\u3092\u6e80\u305f\u3059\u3068\u89e3\u91c8\u3067\u304d\u308b\u304b\u3089\u3067\u3059\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img decoding=\"async\" src=\"\/T-Wave\/wp-content\/uploads\/2022\/11\/image.png\" alt=\"\" class=\"wp-image-5225\"\/><figcaption class=\"wp-element-caption\">\u56f32\uff1a<img loading=\"lazy\" decoding=\"async\" width=\"7\" height=\"16\" src=\"file:\/\/\/C:\/Users\/mtrh\/AppData\/Local\/Temp\/msohtmlclip1\/01\/clip_image002.gif\">$e$\u306e\u5024\u306b\u5bfe\u3059\u308b$E_{i,e}$\u3068$\\sum_{e=1}^{\\Delta-1}E_{i,e}$\u306e\u5024<\/figcaption><\/figure>\n<\/div>\n\n\n<h4 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E5%88%B6%E7%B4%84%E9%A0%853\"><\/span>\u5236\u7d04\u98053<span class=\"ez-toc-section-end\"><\/span><\/h4>\n\n\n\n<p>\u6700\u5f8c\u306b\u4e09\u3064\u76ee\u306e\u5236\u7d04\u9805\u3067\u3059\u3002\u7ba1\u5236\u5ba4\u304c\u822a\u7a7a\u3092\u5236\u5fa1\u3059\u308b\u305f\u3081\u306b\u306fUAV\u306b\u3088\u308b\u60c5\u5831\u306e\u9001\u4fe1\u3092\u5236\u9650\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\u305d\u3053\u3067\u9001\u4fe1\u3092\u884c\u3046UAV\u306e\u500b\u6570\u3092\u5236\u9650\u3059\u308b\u5236\u7d04\u3092\u52a0\u3048\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u4ed6\u306eUAV\u3078\u9001\u4fe1\u3092\u884c\u3046UAV\u3092cluster head\u3001cluster head\u304b\u3089\u60c5\u5831\u3092\u53d7\u3051\u53d6\u308bUAV\u3092cluster member\u3001\uff11\u3064\u306ecluster head\u3068cluster member\u3067\u69cb\u6210\u3055\u308c\u308bUAV\u306e\u96c6\u5408\u3092cluster\u3068\u547c\u3073\u307e\u3059\u3002\u56f33\u306bUAV\u3092cluster member\u3068cluster head\u306b\u5206\u985e\u3057\u305f\u4f8b\u3092\u793a\u3057\u307e\u3057\u305f\u3002\u56f33\u306e\u3088\u3046\u306b\u7121\u7dda\u901a\u4fe1\u7db2\u306f\u3044\u304f\u3064\u304b\u306ecluster\u306b\u5206\u3051\u308b\u3053\u3068\u304c\u3067\u304d\u3001cluster\u306e\u500b\u6570\u306fcluster head\u306e\u500b\u6570\u306b\u4e00\u81f4\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u672c\u8ad6\u6587\u3067\u306f\u3053\u306e\u5236\u7d04\u306b\u3088\u308acluster\u306e\u500b\u6570\u3092$C_{num}$\u500b\u306b\u5236\u9650\u3057\u307e\u3059\u3002\u6709\u5411\u30b0\u30e9\u30d5\u3067\u8003\u3048\u308b\u3068cluster head\u3092\u8868\u3059\u9802\u70b9\u306f\u305d\u306e\u9802\u70b9\u304b\u3089\u51fa\u308b\u8fba\u304c1\u672c\u4ee5\u4e0a\u3042\u308b\u3053\u3068\u3092\u8868\u3059\u306e\u3067\u3001\u3053\u306e\u5236\u7d04\u306f\u51fa\u308b\u8fba\u304c\uff11\u672c\u4ee5\u4e0a\u3042\u308b\u9802\u70b9\u3092$C_{num}$\u500b\u306b\u3059\u308b\u5236\u7d04\u306b\u306a\u308a\u307e\u3059\u3002\u3053\u306e\u5236\u7d04\u306e\u5b9a\u5f0f\u5316\u306f\u4ee5\u4e0b\u306e(6)\u5f0f\u3068\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p>$$<br>H_3 = \\left(\\sum_{i=2}^B \\left(\\sum_{j=2}^B s_{i,j} -\\sum_{e=1} E_{i,e}\\right) &#8211; C_{num}\\right)^2 \\tag{6}<br>$$<\/p>\n\n\n\n<p>\u3053\u306e\u5b9a\u5f0f\u5316\u306b\u3064\u3044\u3066\u8aac\u660e\u3057\u307e\u3059\u3002\u307e\u305a$E_{i,e}$\u306f\u524d\u8ff0\u306e\u3068\u304a\u308a\u3067\u3059\u3002\u9802\u70b9\u304b\u3089\u51fa\u308b\u8fba\u6570\u304c\uff10\u3059\u306a\u308f\u3061$\\sum_{j} s_{i,j} = 0$\u306e\u3068\u304d\u3001$e \\geq 1$\u3067$E_{i,e}=0$\u3068\u306a\u308b\u306e\u3067$\\sum_{e} E_{i,e} = 0$\u3068\u306a\u308a\u307e\u3059\u3002\u4e00\u65b9\u9802\u70b9\u304b\u3089\u51fa\u308b\u8fba\u6570\u304c1\u4ee5\u4e0a\u3059\u306a\u308f\u3061$\\sum_{j} s_{i,j} \\geq 1$\u306e\u3068\u304d\u3001$1 \\leq e \\leq \\sum_{j} s_{i,j} &#8211; 1$\u3067$E_{i,e}=1$\u3001$\\sum_{j} s_{i,j} \\leq e$\u3067$E_{i,e}=0$\u3068\u306a\u308b\u306e\u3067$\\sum_{e} E_{i,e}=\\sum_{j} s_{i,j} &#8211; 1$\u3068\u306a\u308a\u307e\u3059\u3002\u3064\u307e\u308a\u9802\u70b9\u304b\u3089\u51fa\u308b\u8fba\u6570\u304c\uff11\u4ee5\u4e0a\u306e\u3068\u304d$\\sum_{j} s_{i,j} &#8211; \\sum_{e} E_{i,e}=1$\u3068\u306a\u308a\u307e\u3059\u3002\u4ee5\u4e0a\u3088\u308a$\\sum_{i=2}^B (\\sum_{j=2} s_{i,j} &#8211; \\sum_{e=1}E_{i,e})$\u304c\u9802\u70b9\u304b\u3089\u51fa\u308b\u8fba\u6570\u304c1\u4ee5\u4e0a\u306e\u3068\u306a\u308b\u9802\u70b9\u306e\u6570\u3092\u8868\u3057\u3066\u3044\u307e\u3059\u3002cluster head\u3068\u306a\u308b\u9802\u70b9\u306e\u500b\u6570\u304c$C_{num}$\u500b\u306e\u3068\u304d$H_3$\u306f\u6700\u5c0f\u3068\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img decoding=\"async\" src=\"\/T-Wave\/wp-content\/uploads\/2022\/11\/image-1.png\" alt=\"\" class=\"wp-image-5235\"\/><figcaption class=\"wp-element-caption\">\u56f33\uff1acluster\u3001cluster head\u3001cluster member\u306e\u4f8b<\/figcaption><\/figure>\n<\/div>\n\n\n<p>\u3053\u308c\u3089\u306e\u76ee\u7684\u95a2\u6570\u3068\u5236\u7d04\u9805\u306b\u3088\u308a\u30b3\u30b9\u30c8\u95a2\u6570\u306f\u4ee5\u4e0b\u306e(7)\u5f0f\u306e\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002\u3053\u3053\u3067$w_{\\max}$\u306f\u8fba\u306e\u91cd\u307f\u3067\u6700\u5927\u306e\u3082\u306e\u3092\u8868\u3057\u307e\u3059\u3002$H_1$\uff5e$H_3$\u304c\u6700\u5c0f\u3068\u306a\u3089\u306a\u3044\u3068\u304d\u306f$w_{\\max}$\u3092\u4fc2\u6570\u306b\u304b\u3051\u3066\u3044\u308b\u305f\u3081\u30b3\u30b9\u30c8\u95a2\u6570\u306f\u6700\u5c0f\u3068\u306a\u308a\u307e\u305b\u3093\u3002<\/p>\n\n\n\n<p>$$<br>H_0 + w_{\\text{max}} ( H_1 + H_2 + H_3) \\tag{7}<br>$$<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E9%87%8F%E5%AD%90%E3%83%A2%E3%83%B3%E3%83%86%E3%82%AB%E3%83%AB%E3%83%AD%E6%B3%95\"><\/span>\u91cf\u5b50\u30e2\u30f3\u30c6\u30ab\u30eb\u30ed\u6cd5<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>\u91cf\u5b50\u30a2\u30cb\u30fc\u30ea\u30f3\u30b0\u306b\u3088\u3063\u3066\u7121\u7dda\u901a\u4fe1\u7db2\u3092\u4f5c\u6210\u3059\u308b\u3068\u3001SA\u3092\u5229\u7528\u3057\u305f\u6642\u3088\u308a\u3082\u901a\u4fe1\u7db2\u306e\u30a8\u30cd\u30eb\u30ae\u30fc\u91cf\u304c\u5c0f\u3055\u304f\u306a\u308b\u3053\u3068\u304c\u671f\u5f85\u3055\u308c\u307e\u3059\u3002\u91cf\u5b50\u30a2\u30cb\u30fc\u30ea\u30f3\u30b0\u3067\u306f\u6700\u9069\u5316\u554f\u984c\u3092QUBO\u5f62\u5f0f\u306b\u8868\u3059\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002QUBO\u3068\u306f\u4ee5\u4e0b\u306e(8)\u5f0f\u306e\u5f62\u5f0f\u3067\u8868\u3055\u308c\u308b\u5f0f\u306e\u3053\u3068\u3067\u3059\u3002\u3053\u3053\u3067$x_{i} \\in \\{0, 1\\}$\u306f\u4e8c\u5024\u5909\u6570\u3092\u8868\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p>$$<br>QUBO = \\sum_{i} \\sum_{j} Q_{ij} x_{i} x_{j} \\tag{8}<br>$$<\/p>\n\n\n\n<p>\u3057\u304b\u3057(4)\u5f0f\u3001(6)\u5f0f\u3067\u7528\u3044\u305f\u5909\u6570$E_{i,e}$\u3092QUBO\u5f62\u5f0f\u3067\u8868\u3059\u3053\u3068\u304c\u56f0\u96e3\u3067\u3059\u3002\u305d\u3053\u3067\u672c\u8ad6\u6587\u3067\u306f\u91cf\u5b50\u30e2\u30f3\u30c6\u30ab\u30eb\u30ed\u6cd5\u306b\u3088\u308a\u6700\u9069\u5316\u3092\u884c\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u91cf\u5b50\u30e2\u30f3\u30c6\u30ab\u30eb\u30ed\u6cd5\u306f\u91cf\u5b50\u30a2\u30cb\u30fc\u30ea\u30f3\u30b0\u3092\u53e4\u5178\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u4e0a\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3057\u305f\u3082\u306e\u3068\u306a\u308a\u307e\u3059\u3002\u91cf\u5b50\u30a2\u30cb\u30fc\u30ea\u30f3\u30b0\u306f\u6700\u9069\u5316\u554f\u984c\u3092\u8868\u3059\u53e4\u5178\u30a4\u30b8\u30f3\u30b0\u6a21\u578b\u306b\u6a2a\u78c1\u5834\u306e\u5f71\u97ff\u3092\u52a0\u3048\u3066\u6700\u9069\u5316\u554f\u984c\u306e\u89e3\u3092\u63a2\u7d22\u3057\u307e\u3059\u3002\u53e4\u5178\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u3067\u306f\u3053\u306e\u53e4\u5178\u30a4\u30b8\u30f3\u30b0\u6a21\u578b\u3068\u6a2a\u78c1\u5834\u3092\u76f4\u63a5\u5206\u5272\u3057\u3066\u8868\u73fe\u3059\u308b\u3053\u3068\u306f\u56f0\u96e3\u3067\u3059\u304c\u3001\u5341\u5206\u306b\u5927\u304d\u306a\u500b\u6570\u306e\u53e4\u5178\u7684\u306a\u30a4\u30b8\u30f3\u30b0\u6a21\u578b\u3092\u7528\u3044\u308b\u3053\u3068\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3059\u308b\u3053\u3068\u304c\u53ef\u80fd\u306b\u306a\u308a\u307e\u3059\u3002\u3053\u3053\u3067\u7528\u3044\u308b\u53e4\u5178\u30a4\u30b8\u30f3\u30b0\u6a21\u578b\u306e\u500b\u6570\u3092$P$\u3068\u3057\u3066\u3001\u305d\u306e\u3046\u3061$i$\u756a\u76ee\u306e\u3082\u306e\u3092\u30ec\u30d7\u30ea\u30ab$i$\u3068\u547c\u3076\u3053\u3068\u306b\u3057\u307e\u3059\u3002\u56f34\u306b$P$\u500b\u306e\u30ec\u30d7\u30ea\u30ab\u3092\u7528\u3044\u308b\u69d8\u5b50\u3092\u793a\u3057\u307e\u3057\u305f\u3002\u56f34\u306e\u3088\u3046\u306b\u91cf\u5b50\u30e2\u30f3\u30c6\u30ab\u30eb\u30ed\u6cd5\u306b\u304a\u3051\u308b\u30cf\u30df\u30eb\u30c8\u30cb\u30a2\u30f3\u306f$P$\u500b\u306e\u30ec\u30d7\u30ea\u30ab\u3092\u7528\u3044\u308b\u3053\u3068\u306b\u3088\u3063\u3066\u6b21\u5143\u304c1\u3064\u5897\u3048\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u6a2a\u78c1\u5834\u306e\u5f71\u97ff\u306f\u96a3\u308a\u5408\u3063\u305f\u30ec\u30d7\u30ea\u30ab\u306e\u76f8\u4e92\u4f5c\u7528\u306b\u3088\u3063\u3066\u8fd1\u4f3c\u7684\u306b\u8868\u3059\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u5177\u4f53\u7684\u306b\u306f\u4ee5\u4e0b\u306e(9)\u5f0f\u306b\u3088\u3063\u3066\u6a2a\u78c1\u5834\u306e\u5f71\u97ff\u3092\u8868\u73fe\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p>$$<br>H_k = -J_\\Gamma \\left( \\sum_{z}^{P-1} \\sum_{(a, b)} s_{a,b}^{z} s_{a,b}^{z+1} + \\sum_{(a, b)} s_{a,b}^{P} s_{a,b}^{1} \\right) \\tag{9}<br>$$<\/p>\n\n\n\n<p> $J_\\Gamma$\u306f\u4ee5\u4e0b\u306e(10)\u5f0f\u3067\u8868\u3055\u308c\u307e\u3059\u3002<\/p>\n\n\n\n<p>$$<br>J_\\Gamma = -\\frac{T}{2} \\log \\tanh \\frac{\\Gamma}{PT} \\tag{10}<br>$$<\/p>\n\n\n\n<p>\u3053\u3053\u3067$\\Gamma$\u306f\u6a2a\u78c1\u5834\u306b\u304b\u304b\u308b\u4fc2\u6570\u3067\u3042\u308a\u3001\u521d\u3081\u306f\u9ad8\u3044\u5024\u3068\u3057\u3066\u72b6\u614b\u3092\u66f4\u65b0\u3057\u306a\u304c\u3089\u5f90\u3005\u306b\u5c0f\u3055\u304f\u3057\u307e\u3059\u3002\u307e\u305f$T$\u306f\u6e29\u5ea6\u3092\u8868\u3057\u3001\u3053\u308c\u306f\u5341\u5206\u5c0f\u3055\u306a\u5024\u3092\u3068\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u91cf\u5b50\u30e2\u30f3\u30c6\u30ab\u30eb\u30ed\u6cd5\u306b\u304a\u3051\u308b\u6700\u9069\u5316\u554f\u984c\u3092\u8868\u3059\u30b3\u30b9\u30c8\u95a2\u6570\u306f\u4e0a\u8a18\u306b\u793a\u3057\u305f(7)\u5f0f\u3092$P$\u500b\u306e\u30ec\u30d7\u30ea\u30ab\u305d\u308c\u305e\u308c\u306b\u3064\u3044\u3066\u8a08\u7b97\u3057\u3001\u305d\u306e\u5e73\u5747\u3092\u3068\u3063\u305f\u4ee5\u4e0b\u306e(11)\u5f0f\u3067\u8868\u3055\u308c\u307e\u3059\u3002<\/p>\n\n\n\n<p>$$<br>H_P =\\frac{1}{P} \\sum_{z=1}^{P}(H_0 + w_{\\max}(H_1 +H_2 + H_3)) \\tag{11}<br>$$<\/p>\n\n\n\n<p>\u4ee5\u4e0a\u3088\u308a\u91cf\u5b50\u30e2\u30f3\u30c6\u30ab\u30eb\u30ed\u6cd5\u306b\u304a\u3051\u308b\u30b3\u30b9\u30c8\u95a2\u6570\u306f\u4ee5\u4e0b\u306e(12)\u5f0f\u3067\u8868\u3055\u308c\u307e\u3059\u3002<\/p>\n\n\n\n<p>$$<br>H_c = H_p + H_k  \\tag{12}<br>$$<\/p>\n\n\n\n<p>$\\Gamma$\u3092\u5c0f\u3055\u304f\u3059\u308b\u3068$J_\\Gamma$\u306e\u5024\u306f\u5927\u304d\u304f\u306a\u308b\u305f\u3081\u3001\u72b6\u614b\u3092\u66f4\u65b0\u3059\u308b\u306b\u3064\u308c(12)\u5f0f\u306e\u7b2c\u4e8c\u9805\u306e\u5f71\u97ff\u304c$P$\u500b\u306e\u89e3\u3092\u7b49\u3057\u304f\u3059\u308b\u3088\u3046\u306b\u5f37\u307e\u308a\u307e\u3059\u3002\u8907\u6570\u306e\u89e3\u3092\u7528\u3044\u3066\u89e3\u306e\u5019\u88dc\u3092\u5897\u3084\u3059\u3053\u3068\u3067\u30a8\u30cd\u30eb\u30ae\u30fc\u304c\u4f4e\u304f\u306a\u308b\u72b6\u614b\u3092\u63a2\u3057\u3084\u3059\u304f\u3057\u3001\u3055\u3089\u306b\u8907\u6570\u306e\u89e3\u304c\u4e00\u3064\u306b\u8fd1\u3065\u304f\u3088\u3046\u306b\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img decoding=\"async\" src=\"\/T-Wave\/wp-content\/uploads\/2022\/11\/image-2.png\" alt=\"\" class=\"wp-image-5237\"\/><figcaption class=\"wp-element-caption\">\u56f3\uff14:$P$\u500b\u306e\u30ec\u30d7\u30ea\u30ab<\/figcaption><\/figure>\n<\/div>\n\n\n<p>\u91cf\u5b50\u30e2\u30f3\u30c6\u30ab\u30eb\u30ed\u6cd5\u3067\u306f\u30ec\u30d7\u30ea\u30ab\u305d\u308c\u305e\u308c\u306b\u3064\u3044\u3066\u89e3\u3092\u5909\u5316\u3055\u305b\u307e\u3059\u3002\u3053\u306e\u3068\u304d\u89e3\u3092\u5909\u5316\u3055\u305b\u308b\u65b9\u6cd5\u306f\u4ee5\u4e0b\u306e3\u3064\u3067\u3059\u3002\u307e\u305f\u56f3\uff15\u306b\u3053\u306e\uff13\u901a\u308a\u306e\u5909\u5316\u306e\u4f8b\u3092\u793a\u3057\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3042\u308b2\u3064\u306eUAV\u306e\u901a\u4fe1\u3092\u524a\u9664\u3057\u3066\u3001\u65b0\u3057\u304f\u5225\u306e\uff12\u3064\u306eUAV\u306e\u901a\u4fe1\u3092\u4f5c\u6210\u3059\u308b<\/li>\n\n\n\n<li>UAV\u306e\u9001\u4fe1\u30fb\u53d7\u4fe1\u95a2\u4fc2\u3092\u53cd\u5bfe\u306b\u3059\u308b<\/li>\n\n\n\n<li>\u3042\u308bUAV\u306e\u53d7\u4fe1\u5143\u3092\u5909\u66f4\u3059\u308b<\/li>\n<\/ul>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img decoding=\"async\" src=\"\/T-Wave\/wp-content\/uploads\/2022\/11\/image-3.png\" alt=\"\" class=\"wp-image-5238\"\/><figcaption class=\"wp-element-caption\">\u56f35\uff1a\uff13\u901a\u308a\u306e\u5909\u5316<\/figcaption><\/figure>\n<\/div>\n\n\n<p>\u72b6\u614b\u3092\u9077\u79fb\u3055\u305b\u308b\u304b\u3092\u6c7a\u5b9a\u3059\u308b\u305f\u3081\u306b\u30b3\u30b9\u30c8\u95a2\u6570\u3092\u8a08\u7b97\u3057\u307e\u3059\u3002\u5909\u5316\u3055\u305b\u308b\u524d\u306e\u72b6\u614b\u3068\u5909\u5316\u3055\u305b\u305f\u5f8c\u306e\u72b6\u614b\u306b\u5bfe\u3057\u3066(11)\u5f0f\u306e\u5dee\u5206\u3092$\\Delta H_p$\u3001(9)\u5f0f\u306e\u5dee\u5206\u3092$\\Delta H_k$ \u3001$\\Delta H_c = \\Delta H_p \/ P &#8211; \\Delta H_k$\u3068\u3057\u307e\u3059\u3002$\\Delta H_p &lt; 0$\u307e\u305f\u306f$\\Delta H_c &lt; 0$\u306e\u3068\u304d\u306f\u89e3\u3092\u5909\u5316\u3055\u305b\u305f\u5f8c\u306e\u72b6\u614b\u306b\u9077\u79fb\u3055\u305b\u307e\u3059\u3002\u305d\u3046\u3067\u306a\u3044\u5834\u5408\u306f\u78ba\u7387$\\exp(-\\Delta H_c \/ T)$\u3067\u72b6\u614b\u3092\u9077\u79fb\u3055\u305b\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u91cf\u5b50\u30e2\u30f3\u30c6\u30ab\u30eb\u30ed\u6cd5\u3067\u306f\u4ee5\u4e0a\u306e\u89e3\u306e\u5909\u5316\u30fb\u9077\u79fb\u3092$P$\u500b\u306e\u30ec\u30d7\u30ea\u30ab\u305d\u308c\u305e\u308c\u306b\u5bfe\u3057\u3066\u884c\u3046\u3053\u3068\u3092\u7e70\u308a\u8fd4\u3057\u307e\u3059\u3002\u30ec\u30d7\u30ea\u30ab1\u304b\u3089\u30ec\u30d7\u30ea\u30ab$P$\u307e\u3067\u89e3\u306e\u5909\u5316\u30fb\u9077\u79fb\u3092\u884c\u3046\u3054\u3068\u306b\u5b9f\u969b\u306e\u30a8\u30cd\u30eb\u30ae\u30fc\u6d88\u8cbb\u91cf\u3092\u8a18\u9332\u3057\u3066\u3044\u304d\u307e\u3059\u3002\u3053\u3053\u3067\u91cf\u5b50\u30e2\u30f3\u30c6\u30ab\u30eb\u30ed\u6cd5\u3067\u306f$P$\u500b\u306e\u89e3\u304c\u5f97\u3089\u308c\u307e\u3059\u304c\u3001\u5b9f\u969b\u306b\u8a18\u9332\u3059\u308b\u89e3\u306f$P$\u500b\u306e\u3046\u3061\u6700\u3082\u30a8\u30cd\u30eb\u30ae\u30fc\u6d88\u8cbb\u91cf\u304c\u5c0f\u3055\u3044\u89e3\u3092\u9078\u629e\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p>&nbsp;\u4e0a\u8a18\u3092\u307e\u3068\u3081\u308b\u3068\u91cf\u5b50\u30e2\u30f3\u30c6\u30ab\u30eb\u30ed\u6cd5\u306f\u4ee5\u4e0b\u306e\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306b\u3088\u3063\u3066\u5b9f\u884c\u3055\u308c\u307e\u3059\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>$P$\u500b\u306e\u30ec\u30d7\u30ea\u30ab\u3092\u7528\u610f\u3059\u308b\u3002<\/li>\n\n\n\n<li>\u30ec\u30d7\u30ea\u30ab1\u306b\u3064\u3044\u3066\u56f35\u306e3\u3064\u306e\u65b9\u6cd5\u306e\u3046\u3061\u3069\u308c\u304b1\u3064\u3067\u89e3\u3092\u5909\u5316\u3055\u305b\u308b\u3002<\/li>\n\n\n\n<li>\u30ec\u30d7\u30ea\u30ab1\u306e\u5909\u5316\u3055\u305b\u308b\u524d\u3068\u5f8c\u306e\u72b6\u614b\u3067\u30b3\u30b9\u30c8\u95a2\u6570\u3092\u8a08\u7b97\u3057\u3001\u305d\u306e\u5024\u306b\u3088\u3063\u3066\u89e3\u3092\u9077\u79fb\u3055\u305b\u308b\u3002<\/li>\n\n\n\n<li>\u30ec\u30d7\u30ea\u30ab2\uff5e\u30ec\u30d7\u30ea\u30ab$P$\u306b\u3064\u3044\u30662.\u30013.\u3092\u540c\u69d8\u306b\u5b9f\u884c\u3059\u308b\u3002<\/li>\n\n\n\n<li>\u30ec\u30d7\u30ea\u30ab1\uff5e\u30ec\u30d7\u30ea\u30ab$P$\u306e\u4e2d\u3067\u6700\u3082\u5c0f\u3055\u3044\u30a8\u30cd\u30eb\u30ae\u30fc\u6d88\u8cbb\u91cf\u3092\u8a18\u9332\u3059\u308b\u3002<\/li>\n\n\n\n<li>(9)\u5f0f\u306e$\\Gamma$\u306e\u5024\u3092\u66f4\u65b0\u3059\u308b\u3002<\/li>\n\n\n\n<li>02.\uff5e06.\u3092\u7e70\u308a\u8fd4\u3059\u3002<\/li>\n<\/ol>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E5%AE%9F%E9%A8%93\"><\/span>\u5b9f\u9a13<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>\u307e\u305a\u5b9f\u9a13\u3092\u884c\u3046\u305f\u3081\u306e\u554f\u984c\u3092\u751f\u6210\u3057\u307e\u3059\u3002\u3053\u3053\u3067\u306f\u7ba1\u5236\u5ba4\u304c1\u3064\u3001UAV\u304c49\u6a5f\u3068\u8a2d\u5b9a\u3057\u307e\u3057\u305f\u3002\u3053\u308c\u3089\u3092\u5408\u8a0850\u500b\u306e\u9802\u70b9\u3068\u898b\u306a\u3057\u3001\u305d\u308c\u305e\u308c1000m\u00d71000m\u00d71000m\u306e\u7bc4\u56f2\u3092\u6301\u30643\u6b21\u5143\u5ea7\u6a19\u4e0a\u306b\u914d\u7f6e\u3057\u307e\u3059\u3002\u3053\u3053\u3067\u7ba1\u5236\u5ba4\u3092\u8868\u3059\u9802\u70b9\u306f(500, 500, 0)\u306e\u4f4d\u7f6e\u306b\u914d\u7f6e\u3057\u3001UAV\u3092\u8868\u3059\u9802\u70b9\u306f\u30e9\u30f3\u30c0\u30e0\u306a\u4f4d\u7f6e\u306b\u914d\u7f6e\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u91cf\u5b50\u30e2\u30f3\u30c6\u30ab\u30eb\u30ed\u6cd5\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u306b\u3057\u3066\u5b9f\u9a13\u3092\u884c\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>$\\Delta=6$<\/li>\n\n\n\n<li>$C_{num}=20,50,100$<\/li>\n\n\n\n<li>$P=40$<\/li>\n\n\n\n<li>$T=0.04$<\/li>\n\n\n\n<li>$(\\Gamma \\text{\u306e\u521d\u671f\u5024})=2.5PT=4.0$<\/li>\n<\/ul>\n\n\n\n<p>\u91cf\u5b50\u30e2\u30f3\u30c6\u30ab\u30eb\u30ed\u6cd5\u3068SA\u306e\u6bd4\u8f03\u3092\u884c\u3044\u307e\u3059\u300220\u56de\u72ec\u7acb\u306b\u554f\u984c\u306e\u751f\u6210\u3001\u91cf\u5b50\u30e2\u30f3\u30c6\u30ab\u30eb\u30ed\u6cd5\u306b\u3088\u308b\u901a\u4fe1\u7db2\u4f5c\u6210\u3001SA\u306b\u3088\u308b\u901a\u4fe1\u7db2\u4f5c\u6210\u3092\u884c\u3044\u307e\u3059\u3002\u6bd4\u8f03\u306e\u6307\u6a19\u306b\u306f\u3059\u3079\u3066\u306e\u554f\u984c\u306e\u4e2d\u3067\u5f97\u3089\u308c\u305f\u30a8\u30cd\u30eb\u30ae\u30fc\u6d88\u8cbb\u91cf\u306e\u5e73\u5747\u5024\u3001\u6700\u5c0f\u5024\u3001\u6700\u5927\u5024\u3092\u7528\u3044\u307e\u3059\u3002\u91cf\u5b50\u30e2\u30f3\u30c6\u30ab\u30eb\u30ed\u6cd5\u3067\u306f\u4e0a\u8a18\u306e\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306e02.~06.\u3092$10^2$\uff5e$10^7$\u56de\u7e70\u308a\u8fd4\u3059\u3054\u3068\u306b\u30a8\u30cd\u30eb\u30ae\u30fc\u6d88\u8cbb\u91cf\u306e\u5e73\u5747\u5024\u3001\u6700\u5c0f\u5024\u3001\u6700\u5927\u5024\u3092\u6c42\u3081\u307e\u3059\u3002SA\u3082\u540c\u69d8\u306b\u89e3\u306e\u9077\u79fb\u306e\u56de\u6570\u304c$10^2$\uff5e$10^7$\u56de\u306e\u3068\u304d\u306b\u30a8\u30cd\u30eb\u30ae\u30fc\u6d88\u8cbb\u91cf\u306e\u5e73\u5747\u5024\u3001\u6700\u5c0f\u5024\u3001\u6700\u5927\u5024\u3092\u6c42\u3081\u307e\u3059\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E7%B5%90%E6%9E%9C\"><\/span>\u7d50\u679c<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>\u30a8\u30cd\u30eb\u30ae\u30fc\u6d88\u8cbb\u91cf\u306e\u6700\u5c0f\u5024\u30fb\u5e73\u5747\u5024\u30fb\u6700\u5927\u5024\u306e\u30b0\u30e9\u30d5\u3092\u56f36\u306b\u793a\u3057\u307e\u3057\u305f\u3002QA\u306f\u91cf\u5b50\u30e2\u30f3\u30c6\u30ab\u30eb\u30ed\u6cd5\u306b\u3088\u3063\u3066\u4f5c\u6210\u3057\u305f\u3068\u304d\u306e\u30a8\u30cd\u30eb\u30ae\u30fc\u6d88\u8cbb\u91cf\u3067\u3059\u3002\u521d\u3081\u306e\u3046\u3061\u306fSA\u306e\u65b9\u304c\u30a8\u30cd\u30eb\u30ae\u30fc\u6d88\u8cbb\u91cf\u304c\u5c11\u306a\u304f\u306a\u3063\u3066\u3044\u307e\u3057\u305f\u3002\u3057\u304b\u3057\u3001\u66f4\u65b0\u3092\u7e70\u308a\u8fd4\u3059\u3068\u91cf\u5b50\u30e2\u30f3\u30c6\u30ab\u30eb\u30ed\u6cd5\u304c\u6700\u5c0f\u5024\u30fb\u5e73\u5747\u5024\u30fb\u6700\u5927\u5024\u306e\u3059\u3079\u3066\u3067SA\u306e\u30a8\u30cd\u30eb\u30ae\u30fc\u6d88\u8cbb\u91cf\u3092\u4e0b\u56de\u308a\u307e\u3057\u305f\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img decoding=\"async\" src=\"\/T-Wave\/wp-content\/uploads\/2022\/11\/image-4.png\" alt=\"\" class=\"wp-image-5240\"\/><figcaption class=\"wp-element-caption\">\u56f36\uff1a\u4f5c\u6210\u3057\u305f\u7121\u7dda\u901a\u4fe1\u7db2\u306e\u30a8\u30cd\u30eb\u30ae\u30fc\u6d88\u8cbb\u91cf(<a href=\"https:\/\/doi.org\/10.1109\/PAAP54281.2021.9720448\">https:\/\/doi.org\/10.1109\/PAAP54281.2021.9720448<\/a>)<\/figcaption><\/figure>\n<\/div>\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E7%B5%90%E8%AB%96\"><\/span>\u7d50\u8ad6<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>QA\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u3042\u308b\u91cf\u5b50\u30e2\u30f3\u30c6\u30ab\u30eb\u30ed\u6cd5\u3092\u7528\u3044\u308b\u3053\u3068\u3067\u3001SA\u3088\u308a\u3082\u30a8\u30cd\u30eb\u30ae\u30fc\u6d88\u8cbb\u91cf\u304c\u5c0f\u3055\u3044\u901a\u4fe1\u7db2\u3092\u4f5c\u6210\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3057\u305f\u3002\u5c06\u6765\u7684\u306b\u306fD-wave\u306e\u3088\u3046\u306a\u91cf\u5b50\u30a2\u30cb\u30fc\u30e9\u3092\u7528\u3044\u3066\u7121\u7dda\u901a\u4fe1\u7db2\u306e\u4f5c\u6210\u5b9f\u9a13\u3092\u884c\u3046\u3068\u3057\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%81%82%E3%81%A8%E3%81%8C%E3%81%8D\"><\/span>\u3042\u3068\u304c\u304d<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>\u901a\u4fe1\u7db2\u306e\u4f5c\u6210\u3092\u6700\u9069\u5316\u554f\u984c\u3068\u3057\u3066\u6349\u3048\u305f\u3053\u3068\u3084QA\u3092\u53e4\u5178\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u4e0a\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3059\u308b\u90e8\u5206\u304c\u9762\u767d\u304f\u611f\u3058\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<p>\u4e00\u65b9\u3067\u4eca\u56de\u306e\u5b9a\u5f0f\u5316\u3067\u306fUAV\u306e\u7121\u7dda\u901a\u4fe1\u7db2\u3068\u3057\u3066\u5229\u7528\u3067\u304d\u306a\u3044\u89e3\u304c\u5f97\u3089\u308c\u308b\u306e\u3067\u306f\u306a\u3044\u304b\u3068\u8003\u3048\u307e\u3057\u305f\u3002\u305d\u306e\u4f8b\u3068\u3057\u3066\u56f37\u306b\u4eca\u56de\u8a2d\u5b9a\u3057\u305f3\u3064\u306e\u5236\u7d04\u3092\u6e80\u305f\u3059\u89e3\u306e\u4e00\u3064\u3092\u793a\u3057\u307e\u3057\u305f\u3002\u56f3\u306e\u4f8b\u3067\u306fUAV\u540c\u58eb\u306e\u9593\u306b\u30b5\u30a4\u30af\u30eb\u304c\u5b58\u5728\u3057\u3066\u304a\u308a\u3001\u304b\u3064\u3069\u306eUAV\u3082\u7ba1\u5236\u5ba4\u3068\u901a\u4fe1\u3057\u3066\u3044\u307e\u305b\u3093\u3002\u3053\u306e\u3088\u3046\u306a\u901a\u4fe1\u7db2\u306f\u5b9f\u969b\u306b\u306f\u63a1\u7528\u3067\u304d\u307e\u305b\u3093\u3002\u4eca\u56de\u306e3\u3064\u306e\u5236\u7d04\u306b\u52a0\u3048\u3066\u3001\u3059\u3079\u3066\u306eUAV\u304c\u7ba1\u5236\u5ba4\u304b\u3089\u306e\u60c5\u5831\u3092\u53d7\u3051\u53d6\u308b\u3088\u3046\u306a\u5236\u7d04\u3092\u52a0\u3048\u308c\u3070\u5bfe\u5fdc\u3067\u304d\u308b\u3068\u8003\u3048\u307e\u3057\u305f\u3002<\/p>\n\n\n<div 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