Masumi Ichien

2 accepted papers

2024

Stability Analysis of Distance-Angle Leader-Follower Formation Control*

ICRA 2024poster

Necessary and sufficient conditions are described for stable distance-angle leader-follower formation control of first- and second-order holonomic and non-holonomic mobile robots. The distance-angle leader-follower formation is a problem of maintaining the desired relative distance and orientation o…

Cited by 0 Source ↗Scholar ↗

2021

Consensus-Based Control Barrier Function for Swarm

Manao Machida, Masumi Ichien

ICRA 2021poster

In swarm control, many robots coordinate their actions in a distributed and decentralized way. We propose a consensus-based control barrier function (CCBF) for a swarm. CCBF restricts the states of the whole distributed system, not just those of the individual robots. The barrier function is approxi…

Cited by 18 Source ↗Scholar ↗