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Title
Japanese: 
English:Passivity-based Pose Synchronization Using Only Relative Pose Information under General Digraphs 
Author
Japanese: 伊吹 竜也, 畑中 健志, 藤田 政之.  
English: T. Ibuki, T. Hatanaka, M. Fujita.  
Language English 
Journal/Book name
Japanese: 
English:Proc. of the 51st IEEE Conference on Decision and Control 
Volume, Number, Page         pp. 4709-4714
Published date Nov. 12, 2012 
Publisher
Japanese: 
English:IEEE 
Conference name
Japanese: 
English:51st IEEE Conference on Decision and Control 
Conference site
Japanese: 
English:Maui, HI 
DOI https://doi.org/10.1109/CDC.2012.6426631
Abstract This paper investigates pose synchronization on the Special Euclidean group SE(3). We first introduce a passivity-based distributed velocity input law to achieve pose synchronization presented in our previous works, where the velocity input partially makes use of absolute pose information to cancel the coupling term between position and orientation. In this paper, we present a new velocity input based only on relative pose information and conduct convergence analysis based on stability of perturbed systems. Moreover, we show a necessary and sufficient condition in terms of interconnection topologies for pose synchronization on SE(3). We finally demonstrate the effectiveness of the present velocity input through simulations.

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