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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 | 2020/04 |
| Type | Academic Journal |
| Peer Review | Peer reviewed |
| Title | 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) |
| Contribution Type | Co-authored (first author) |
| Journal | IEEE Robotics and Automation Letters |
| Journal Type | Another Country |
| Publisher | The Institute of Electrical and Electronics Engineers (IEEE) |
| Volume, Issue, Page | 5(2),pp.1891-1898 |
| Total page number | 8 |
| Authorship | Lead author,Corresponding author |
| International coauthorship | International coauthorship |
| Author and coauthor | Tatsuya Ibuki, Sean Wilson, Junya Yamauchi, Masayuki Fujita, Magnus Egerstedt |
| Details | 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. |