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Title
Japanese:3次元位置・姿勢協調制御 ‐有向グラフ構造における必要十分条件の導出‐ 
English:3-D Pose Synchronization: A Necessary and Sufficient Condition on Digraphs 
Author
Japanese: 伊吹竜也, 畑中健志, 藤田政之.  
English: Tatsuya Ibuki, Takeshi Hatanaka, Masayuki Fujita.  
Language Japanese 
Journal/Book name
Japanese:計測自動制御学会論文集 
English: 
Volume, Number, Page Vol. 50    No. 4    pp. 347-382
Published date Apr. 2014 
Publisher
Japanese:計測自動制御学会 
English: 
Conference name
Japanese: 
English: 
Conference site
Japanese: 
English: 
DOI https://doi.org/10.9746/sicetr.50.374
Abstract This paper studies pose synchronization on the Special Euclidean group SE(3) for a network of rigid bodies. In particular, we extend our earlier results on the topic to expand a class of interaction graphs for which synchronization is proved. We first give the definitions of rigid body networks and pose synchronization as the controlled system and goal of this work, respectively. We next introduce our previous results as the preliminaries. Then, by introducing a condensation graph and stability theory of perturbed systems, we derive a necessary and sufficient condition in terms of interconnection topologies for pose synchronization on SE(3). We finally demonstrate the effectiveness of the present analysis through simulation.

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