Safe Cooperative Control of Mobile Robotic Networks Based on Control Barrier Functions

2023 Fiscal Year Final Research Report

• Project/Area Number: 21K04113
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Review Section: Basic Section 21040:Control and system engineering-related
• Research Institution: Meiji University
• Principal Investigator: Ibuki Tatsuya 明治大学, 理工学部, 専任講師 (30725023)
• Project Period (FY): 2021-04-01 – 2024-03-31
• Keywords: モバイルロボティックネットワーク / 協調制御 / 制御バリア関数

Outline of Final Research Achievements

Aiming to systematically develop the synthesis of distributed collision avoidance in mobile robot networks composed of multiple mobile robots on 2D planes or in 3D spaces, this research project focused mainly on three issues: (i) distributed collision avoidance control for a group of mobile robots with shapes other than circles or spheres; (ii) safety-assurance motion coordination control based on control barrier functions on SO(3); and (iii) collision avoidance control using learning-based control barrier functions. For each of these problems, we proposed novel control laws, analyzed convergence or control performance, performed simulation verification, and also performed experimental verification with real hardware. The academic significance of these efforts has been recognized by numerous publications in academic journals and conference proceedings.

Free Research Field

制御工学

Academic Significance and Societal Importance of the Research Achievements

本研究課題の成果および研究代表者の本研究課題に関連する先行研究の成果について，国内外で継続的に学術雑誌・会議論文に採録されることによりその学術的意義が認められている．本研究を引き続き継続，発展させ，将来的に様々な種類のモバイルロボット群に対するSE(3)上の衝突回避問題の体系化が実現できれば，Society 5.0や超スマートシティ等の次世代制御・ネットワーク技術の実現において，モバイルロボット群の安全な運用という観点で今後の発展に寄与すると期待する．