Optimization-Based Distributed Flocking Control for Multiple Rigid Bodies

Ibuki, Tatsuya; Wilson, Sean; Yamauchi, Junya; Fujita, Masayuki; Egerstedt, Magnus

doi:10.1109/lra.2020.2969950

“…If h(q) ≥ 0 , the distance between robot i and j is larger than r s considering the movement of q 2 during the control period T c . From each agent's system (1), q follows (10), where We derive the condition for u ∈ ℝ 2 to maintain h(q) ≥ 0 using the CBF method. From ( 9) and ( 10), the input constraints between agents corresponding to (8) can be written as follows: (7)…”

Section: E T T C B E T H E C O N T R O L P E R I O D a N Dmentioning

confidence: 99%

Frequency response of swarm deformation with control barrier function

Origane

¹

,

Hattori

²

,

Kurabayashi

³

2022

Artif Life Robotics

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In this study, we focused on robotic swarms, allowing multiple anonymous autonomous robots to gather and move mutually in tasks. We proposed a method to design a parameter of the control barrier function (CBF) in a robotic swarm so that the swarm can achieve collision-free deformation considering the environmental conditions. We analyzed the responses to perturbations of swarming robots, to which we applied the CBF. Although we can guarantee a safe distance between mobile robots, the CBF limits their actions and prevents swarm deformation. Through analysis of the frequency domain, we investigated the effects of a selected parameter in the CBF on the deformability of a swarm. We obtained an appropriate range of parameters that realize both distance maintenance and deformability retention.

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“…Based on (5a), an angle based ZCBF, referred to as a conic CBF in this work, is defined as h(eξ θwi ) := a T w eξ θwi a i − cos θ c . This enables us to represent the attitude set satisfying the conic constraint (5a) by (4).…”

Section: B Definitions Of Conic Control Barrier Functionsmentioning

confidence: 99%

“…In this approach, the control input is given by solving an optimization problem to achieve a control task as much as possible while guaranteeing the safety. This technique is also applied to collision-free motion coordination problems for multi-agent systems as in [4], [23], [24]. Most of the existing studies, however, consider collision avoidance problems with standard Euclidean distances, i.e., in 3D space or on a 2D plane.…”

Section: Introductionmentioning

confidence: 99%

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

Ibuki

¹

,

Wilson

²

,

Ames

³

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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“…Based on (5a), an angle based ZCBF, referred to as a conic CBF in this work, is defined as h(e ξθwi ) := a T w e ξθwi a i − cos θ c . This enables us to represent the attitude set satisfying the conic constraint (5a) by (4).…”

Section: B Definitions Of Conic Control Barrier Functionsmentioning

confidence: 99%

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

Ibuki,

Wilson,

Ames

et al. 2020

Preprint

Self Cite

0

View full text Add to dashboard Cite

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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Optimization-Based Distributed Flocking Control for Multiple Rigid Bodies

Cited by 46 publications

References 27 publications

Frequency response of swarm deformation with control barrier function

Frequency response of swarm deformation with control barrier function

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

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

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