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IBUKI TATSUYA
Department Undergraduate School , School of Science and Technology Position Associate Professor |
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| Language | English |
| Publication Date | 2020/10 |
| Type | Academic Journal |
| Peer Review | Peer reviewed |
| Title | 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) |
| Contribution Type | Co-authored (first author) |
| Journal | IEEE Control Systems Letters |
| Journal Type | Another Country |
| Publisher | The Institute of Electrical and Electronics Engineers (IEEE) |
| Volume, Issue, Page | 4(4),pp.976-981 |
| Total page number | 6 |
| Authorship | Lead author,Corresponding author |
| International coauthorship | International coauthorship |
| Author and coauthor | Tatsuya Ibuki, Sean Wilson, Aaron D. Ames, Magnus Egerstedt |
| Details | 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. |