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	2022/09
形態種別	学術雑誌
査読	査読あり
標題	Optimization-Based Distributed Safety Control with Applications to Collision Avoidance for Mobile Robotic Networks
執筆形態	共著(筆頭者)
掲載誌名	Advanced Robotics
掲載区分	国外
出版社・発行元	The Robotics Society of Japan (RSJ)
巻・号・頁	37(1-2),pp.87-98
総ページ数	12
担当区分	筆頭著者,責任著者
著者・共著者	Tatsuya Ibuki, Taichi Hirano, Riku Funada, Mitsuji Sampei
概要	This paper presents a distributed input rectification methodology to guarantee the safety of a multi-agent system over its pre-given cooperative control task. We start with defining a multi-agent system as a control target, which consists of a group of agents with general control affine nonlinear dynamics and an interconnection topology between agents. The research objective, safety, is next defined via a set invariance property, where a safe set is formed by control barrier functions. Then, an optimization-based distributed safety control method is presented. In the proposed approach, each agent rectifies its control input by solving an individual optimization problem to achieve a pre-given cooperative control strategy as much as possible while satisfying constraints for the safety derived by investigating the control barrier functions. Here, the optimization problem is formulated in a distributed manner by dividing the safety constraint between agents.