3 papers
math.OC2026
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…
eess.SY2023
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…
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…