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Title
Japanese:ドローン群の視野重複を保証する制御バリア関数に対する勾配計算に基づいた解析 
English: 
Author
Japanese: 馬庭龍一, 舩田陸, 三平満司.  
English: Ryuichi Maniwa, Riku Funada, MITSUJI SAMPEI.  
Language Japanese 
Journal/Book name
Japanese:日本機械学会第17回「運動と振動の制御」シンポジウム予稿集 
English: 
Volume, Number, Page         C22
Published date Dec. 9, 2021 
Publisher
Japanese:日本機械学会 
English: 
Conference name
Japanese:日本機械学会第17回「運動と振動の制御」シンポジウム(オンライン) 
English: 
Conference site
Japanese: 
English: 
Abstract This paper considers a visual monitoring problem that prevents the appearance of unobserved areas in-between sensing regions of drones. We first introduce a control algorithm that employs four control barrier functions (CBFs) to eliminate coverage holes between drones’ fields of view. Then, we indicate that gradients of CBFs are required not to become a zero vector to ensure the prevention of coverage holes. To analyze the condition in which the gradients of introduced CBFs render a zero vector, we simplify CBFs by utilizing their geometric property. Concretely, we introduce the coordinate system, which reduces the complexities of a radical center appearing in CBFs. Then, we derive in which condition a gradient of each simplified CBF becomes a zero vector.

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