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

Ibuki, Tatsuya and Wilson, Sean and Ames, Aaron D. and Egerstedt, Magnus (2020) Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach. IEEE Control Systems Letters, 4 (4). pp. 976-981. ISSN 2475-1456. https://resolver.caltech.edu/CaltechAUTHORS:20200528-143228870

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Abstract

This letter 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 via simulation.


Item Type:Article
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/lcsys.2020.2997952DOIArticle
https://arxiv.org/abs/2003.13363arXivDiscussion Paper
ORCID:
AuthorORCID
Ibuki, Tatsuya0000-0003-1525-1024
Wilson, Sean0000-0002-6282-4772
Ames, Aaron D.0000-0003-0848-3177
Egerstedt, Magnus0000-0003-4213-5299
Additional Information:© 2020 IEEE. Manuscript received March 17, 2020; revised May 18, 2020; accepted May 20, 2020. Date of publication May 27, 2020; date of current version June 11, 2020. This work was supported in part by JSPS KAKENHI under Grant 18K13775, and in part by the U.S. National Science Foundation under Grant 1531195 and Grant 1932091. Recommended by Senior Editor C. Seatzu.
Funders:
Funding AgencyGrant Number
Japan Society for the Promotion of Science (JSPS)18K13775
NSFECCS-1531195
NSFCNS-1932091
Subject Keywords:Cooperative control, constrained control, distributed control
Issue or Number:4
Record Number:CaltechAUTHORS:20200528-143228870
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20200528-143228870
Official Citation:T. Ibuki, S. Wilson, A. D. Ames and M. Egerstedt, "Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach," in IEEE Control Systems Letters, vol. 4, no. 4, pp. 976-981, Oct. 2020, doi: 10.1109/LCSYS.2020.2997952
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:103527
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:28 May 2020 21:44
Last Modified:11 Jun 2020 21:45

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