2 citations · 7 across the 12 of their papers we have counts for
12 papers
A Controllability Gramain Shaping with LMI Constraints under Bures--Wasserstein Distance
Koju Nishimoto, Yuki Onishi, Riku Funada +1
This paper proposes a controller design method for shaping the controllability Gramian into a desired form to design the effect from exogenous inputs to the system state. Using the…
Task Hierarchical Control via Null-Space Projection and Path Integral Approach
Apurva Patil, Riku Funada, Takashi Tanaka +1
This paper addresses the problem of hierarchical task control, where a robotic system must perform multiple subtasks with varying levels of priority. A commonly used approach for h…
Energy-Aware Task Allocation for Teams of Multi-mode Robots
Takumi Ito, Riku Funada, Mitsuji Sampei +1
This work proposes a novel multi-robot task allocation framework for robots that can switch between multiple modes, e.g., flying, driving, or walking. We first provide a method to…
Feasible Force Set Shaping for a Payload-Carrying Platform Consisting of Tiltable Multiple UAVs Connected Via Passive Hinge Joints
Takumi Ito, Hayato Kawashima, Riku Funada +1
This paper presents a method for shaping the feasible force set of a payload-carrying platform composed of multiple Unmanned Aerial Vehicles (UAVs) and proposes a control law that…
Design and Control of a VTOL Aerial Vehicle Tilting its Rotors Only with Rotor Thrusts and a Passive Joint
Takumi Ito, Riku Funada, Mitsuji Sampei
This paper presents a novel VTOL UAV that owns a link connecting four rotors and a fuselage by a passive joint, allowing the control of the rotor's tilting angle by adjusting the r…
Collision Avoidance for Ellipsoidal Rigid Bodies with Control Barrier Functions Designed from Rotating Supporting Hyperplanes
Riku Funada, Koju Nishimoto, Tatsuya Ibuki +1
This paper proposes a collision avoidance method for ellipsoidal rigid bodies, which utilizes a control barrier function (CBF) designed from a supporting hyperplane. We formulate t…
Distributed Coverage Hole Prevention for Visual Environmental Monitoring with Quadcopters via Nonsmooth Control Barrier Functions
Riku Funada, María Santos, Ryuichi Maniwa +4
This paper proposes a distributed coverage control strategy for quadcopters equipped with downward-facing cameras that prevents the appearance of unmonitored areas in between the q…
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…
Dynamic Allocation of Visual Attention for Vision-based Autonomous Navigation under Data Rate Constraints
Ali Reza Pedram, Riku Funada, Takashi Tanaka
This paper considers the problem of task-dependent (top-down) attention allocation for vision-based autonomous navigation using known landmarks. Unlike the existing paradigm in whi…
Gaussian Belief Space Path Planning for Minimum Sensing Navigation
Ali Reza Pedram, Riku Funada, Takashi Tanaka
We propose a path planning methodology for a mobile robot navigating through an obstacle-filled environment to generate a reference path that is traceable with moderate sensing eff…
Rationally Inattentive Path-Planning via RRT*
Jeb Stefan, Ali Reza Pedram, Riku Funada +1
We consider a path-planning scenario for a mobile robot traveling in a configuration space with obstacles under the presence of stochastic disturbances. A novel path length metric…
3-D Visual Coverage Based on Gradient Descent Techniques on Matrix Manifold and Its Application to Moving Objects Monitoring
Takeshi Hatanaka, Riku Funada, Masayuki Fujita
This paper investigates coverage control for visual sensor networks based on gradient descent techniques on matrix manifolds. We consider the scenario that networked vision sensors…