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|1. (WO2018105599) CONTROL DEVICE, CONTROL METHOD, AND PROGRAM RECORDING MEDIUM|
|Title:||CONTROL DEVICE, CONTROL METHOD, AND PROGRAM RECORDING MEDIUM|
An objective of the present invention is to optimize actions of an unmanned device group as a whole in a state where each of the devices configuring the unmanned device group autonomously carries out action selection. The present invention relates to a control device (10), comprising: an other device information acquisition means (11) which acquires information which relates to the state of another device; an action comparison means (12) which acquires, from the other device information acquisition means, the information which relates to the state of the other device, acquires a sensor signal which includes information which relates to the state of the local device, and using the acquired information pertaining to the local device and the other device, computes a comparison value with respect to a plurality of types of actions which the local device is to take; an action selection means (13) which, on the basis of the comparison value for the plurality of types of actions which the action comparison means has computed, selects an action which the local device is to take; an operation amount computation means (14) which, using information pertaining to the action which the action selection means has selected and the information which relates to the state of the other device which is obtained from the other device information acquisition means, computes an amount of operation of the local device; and an operation setting means (15) which, using the result of the computation by the operation amount computation means, sets an operation setting value of an actuator which causes the local device to operate.