3-D Pose Synchronization for Mobile Robotic Networks

2017 Fiscal Year Final Research Report

• Project/Area Number: 15K18086
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Control engineering/System engineering
• Research Institution: Tokyo Institute of Technology
• Principal Investigator: Ibuki Tatsuya 東京工業大学, 工学院, 助教 (30725023)
• Project Period (FY): 2015-04-01 – 2018-03-31
• Keywords: 制御工学 / 協調制御 / ロボティックネットワーク

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.

Free Research Field

工学