Control of a Driftless Bilinear Vector Field on $n$-Sphere

Muralidharan, Vijay; Mahindrakar, Arun D.; Saradagi, Akshit

doi:10.1109/tac.2018.2880412

Cited by 4 publications

(1 citation statement)

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“…Safe and distributed motion coordination of individual robots within a multi-robot collective is required to solve many tasks, like formation, flocking, and coverage control [1]- [5]. While many studies focused on motion coordination of a multi-robot system consider the 3-dimensional (3D) Euclidean space or a 2-dimensional (2D) plane as a workspace, a spherical surface is also often required [6]- [13]. This motion coordination on a sphere is motivated not only by theoretical interests but also by some industrial application such as planetary-scale motion coordination/localization in the space/ocean, and vehicle coordination on the surface with a large radius of curvature.…”

Section: Introductionmentioning

confidence: 99%

Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach

Ibuki

Wilson

Ames

et al. 2020

IEEE Control Syst. Lett.

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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. The proposed collision-free motion coordination law is validated through simulation.

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Section: Introductionmentioning

confidence: 99%