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Title
Japanese:相対情報に基づく3次元群れ制御 
English:Relative Pose Information-based 3-D Flocking Control 
Author
Japanese: 伊吹 竜也, Daniel Seitz, 畑中 健志, 藤田 政之.  
English: Tatsuya Ibuki, Daniel Seitz, 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. 51    No. 3    pp. 189-196
Published date Mar. 2015 
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.51.189
Abstract This paper proposes a flocking algorithm on the Special Euclidean group SE(3) for a network of rigid bodies. The main feature of the present law is to embody the three fundamental flocking rules, cohesion, alignment, and separation, presented by Reynolds. We first define rigid body networks and tackle a pose synchronization problem as a partial flocking problem. Then, based on the Reynolds rules, we define flocking motion as the goal of this paper, propose a flocking algorithm and give the convergence analysis. Here, the present scheme is based only on relative pose information to neighbors for imitating actual flocking motion or facility of implementation. We finally show the effectiveness of the present algorithm through simulation.

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