2020
DOI: 10.48550/arxiv.2003.13363
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Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach

Tatsuya Ibuki,
Sean Wilson,
Aaron D. Ames
et al.

Abstract: 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 sphe… Show more

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