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	2020/10
形態種別	学術雑誌
査読	査読あり
標題	Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach (The contents of this paper were also selected by CDC 2020 Program Committee for presentation at the conference)
執筆形態	共著(筆頭者)
掲載誌名	IEEE Control Systems Letters
掲載区分	国外
出版社・発行元	The Institute of Electrical and Electronics Engineers (IEEE)
巻・号・頁	4(4),pp.976-981
総ページ数	6
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, Aaron D. Ames, Magnus Egerstedt
概要	This paper studies a distributed collision avoidance control problem for a group of rigid bodies on a sphere. A rigid body network, consisting of multiple rigid bodies constrained to a spherical surface and an interconnection topology, is first formulated. In this formulation, it is shown that motion coordination on a sphere is equivalent to attitude coordination on the 3-dimensional Special Orthogonal group. Then, an angle-based control barrier function that can handle a geodesic distance constraint on a spherical surface is presented. The proposed control barrier function is then extended to a relative motion case and applied to a collision avoidance problem for a rigid body network operating on a sphere. Each rigid body chooses its control input by solving a distributed optimization problem to achieve a nominal distributed motion coordination strategy while satisfying constraints for collision avoidance.