Real World Edutainment (RWE) is story- game-based learning in the real world, which aims at increasing learning motivation. In RWE, learners can learn through interacting with real objects and human based on a game (learning) story, referring to digital learning materials presented on a handheld computer. In this study, in order to improve flexibility of the game story, we extended the RWE system by implementing the functions of branched game story interpreter, etc. Then, we designed a flexible game story for learning disaster prevention and considered its advantages.

In order to construct three-dimensional shape models of large-scale architectural structures using a laser range finder, a number of range images are taken from various viewpoints. These images are aligned using post-processing procedures such as the ICP algorithm. However, in general, before applying the ICP algorithm, these range images must be aligned roughly by a human operator in order to converge to precise positions. The present paper proposes a new modeling system using a group of multiple robots and an on-board laser range finder. Each measurement position is identified by a highly precise positioning technique called Cooperative Positioning System (CPS), which utilizes the characteristics of the multiple-robot system. Thus, the proposed system can construct 3D shapes of large-scale architectural structures without any post-processing procedure or manual registration. ICP is applied optionally for a subsequent refinement of the model. Measurement experiments in unknown and large indoor/outdoor environments are carried out successfully using the newly developed measurement system consisting of three mobile robots named CPS-V. Generating a model of Dazaifu Tenmangu, a famous cultural heritage, for its digital archive completes the paper.