イブキ　タツヤ   IBUKI TATSUYA   伊吹　竜也    所属   明治大学  理工学部    職種   専任准教授
言語種別	日本語
発行・発表の年月	2015/03
形態種別	学術雑誌
査読	査読あり
標題	相対情報に基づく3次元群れ制御
執筆形態	共著(筆頭者)
掲載誌名	計測自動制御学会論文集
掲載区分	国内
出版社・発行元	計測自動制御学会
巻・号・頁	51(3),189-196頁
総ページ数	8
担当区分	筆頭著者,責任著者
著者・共著者	伊吹竜也，Daniel Seitz, 畑中健志，藤田政之
概要	This paper proposes a flocking algorithm on the Special Euclidean group SE(3) for a network of rigid bodies. The main feature of the present law is to embody the three fundamental flocking rules, cohesion, alignment, and separation, presented by Reynolds. We first define rigid body networks and tackle a pose synchronization problem as a partial flocking problem. Then, based on the Reynolds rules, we define flocking motion as the goal of this paper, propose a flocking algorithm and give the convergence analysis. Here, the present scheme is based only on relative pose information to neighbors for imitating actual flocking motion or facility of implementation. We finally show the effectiveness of the present algorithm through simulation.