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	英語
発行・発表の年月	2020/04
形態種別	学術雑誌
査読	査読あり
標題	Optimization-Based Distributed Flocking Control for Multiple Rigid Bodies (The contents of this paper were also selected by ICRA 2020 Program Committee for presentation at the conference)
執筆形態	共著(筆頭者)
掲載誌名	IEEE Robotics and Automation Letters
掲載区分	国外
出版社・発行元	The Institute of Electrical and Electronics Engineers (IEEE)
巻・号・頁	5(2),pp.1891-1898
総ページ数	8
担当区分	筆頭著者,責任著者
国際共著	国際共著
著者・共著者	Tatsuya Ibuki, Sean Wilson, Junya Yamauchi, Masayuki Fujita, Magnus Egerstedt
概要	This letter considers distributed flocking control on the Special Euclidean group for networked rigid bodies. The method captures the three flocking rules proposed by Reynolds: cohesion; alignment; and separation. The proposed controller is based only on relative pose (position and attitude) information with respect to neighboring rigid bodies so that it can be implemented in a fully distributed manner using only local sensors. The flocking algorithm is moreover based on pose synchronization methods for the cohesion/alignment rules and achieves safe separation distances through the application of control barrier functions. The control input for each rigid body is chosen by solving a distributed optimization problem with constraints for pose synchronization and collision avoidance. Here, the inherent conflict between cohesion and separation is explicitly handled by relaxing the position synchronization constraint.