| Project/Area Number |
15K18086
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Control engineering/System engineering
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| Research Institution | Tokyo Institute of Technology |
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Principal Investigator |
Ibuki Tatsuya 東京工業大学, 工学院, 助教 (30725023)
|
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| Project Period (FY) |
2015-04-01 – 2018-03-31
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| Project Status |
Completed (Fiscal Year 2017)
|
| Budget Amount *help |
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2017: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2016: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2015: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
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| Keywords | 制御工学 / 協調制御 / ロボティックネットワーク |
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| Outline of Final Research Achievements |
This work has investigated 3-D pose synchronization problems for a group of networked mobile robots called mobile robotic network. Specifically, we have extended our previous results by newly introducing (i) force/torque input models, (ii) underactuated vehicle models, (iii) system disturbances, and (iv) discrete-time representation. Here, we have proposed novel synchronization laws and provided convergence analysis for these topics. Moreover, we have developed new experimental environments and conducted experimental verification.
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