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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 | 2022/09 |
| Type | Academic Journal |
| Peer Review | Peer reviewed |
| Title | Optimization-Based Distributed Safety Control with Applications to Collision Avoidance for Mobile Robotic Networks |
| Contribution Type | Co-authored (first author) |
| Journal | Advanced Robotics |
| Journal Type | Another Country |
| Publisher | The Robotics Society of Japan (RSJ) |
| Volume, Issue, Page | 37(1-2),pp.87-98 |
| Total page number | 12 |
| Authorship | Lead author,Corresponding author |
| Author and coauthor | Tatsuya Ibuki, Taichi Hirano, Riku Funada, Mitsuji Sampei |
| Details | 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. |