TY - GEN
T1 - Visual Safety of Robot Networks based on Control Barrier Functions with Spherical Obstacles
AU - Yamauchi, Junya
AU - Maeno, Reita
AU - Fujinami, Tesshu
AU - Omainska, Marco
AU - Fujita, Masayuki
N1 - Publisher Copyright:
© 2023 Society of Instrument and Control Engineers - SICE.
PY - 2023
Y1 - 2023
N2 - This paper addresses the target pursuit task by multiple mobile robots equipped with visual sensors in an environment with spherical obstacles. First, we define a target as visible to a robot when feature points on the target are inside the robot's field of view and are not occluded by an obstacle. To formulate this visibility, we derive safe sets for maintaining the field of view and for avoiding occlusion. Next, in order to achieve visibility of the robot network, we propose two methods for online visibility determination based on the mixed integer programming and the dynamic average consensus algorithm. Finally, the effectiveness of the proposed method is verified by simulation.
AB - This paper addresses the target pursuit task by multiple mobile robots equipped with visual sensors in an environment with spherical obstacles. First, we define a target as visible to a robot when feature points on the target are inside the robot's field of view and are not occluded by an obstacle. To formulate this visibility, we derive safe sets for maintaining the field of view and for avoiding occlusion. Next, in order to achieve visibility of the robot network, we propose two methods for online visibility determination based on the mixed integer programming and the dynamic average consensus algorithm. Finally, the effectiveness of the proposed method is verified by simulation.
KW - control barrier function
KW - rigid body motion
KW - safe control
KW - vision-based control
UR - http://www.scopus.com/inward/record.url?scp=85182587705&partnerID=8YFLogxK
U2 - 10.23919/SICE59929.2023.10354152
DO - 10.23919/SICE59929.2023.10354152
M3 - 会議への寄与
AN - SCOPUS:85182587705
T3 - 2023 62nd Annual Conference of the Society of Instrument and Control Engineers, SICE 2023
SP - 1090
EP - 1095
BT - 2023 62nd Annual Conference of the Society of Instrument and Control Engineers, SICE 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 62nd Annual Conference of the Society of Instrument and Control Engineers, SICE 2023
Y2 - 6 September 2023 through 9 September 2023
ER -