2 papers
eess.SY2022
Collision Avoidance for Elliptical Agents with Control Barrier Function Utilizing Supporting Lines
Koju Nishimoto, Riku Funada, Tatsuya Ibuki +1
This paper presents a collision avoidance method for elliptical agents traveling in a two-dimensional space. We first formulate a separation condition for two elliptical agents uti…
eess.SY2020
Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach
Tatsuya Ibuki, Sean Wilson, Aaron D. Ames +1
This letter studies a distributed collision avoidance control problem for a group of rigid bodies on a sphere. A rigid body network, consisting of multiple rigid bodies constrained…