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Rationally Inattentive Path-Planning via RRT* [article]

Jeb Stefan, Ali Reza Pedram, Riku Funada, Takashi Tanaka
2020 arXiv   pre-print
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 is proposed on the uncertain configuration space and then integrated with the existing RRT* algorithm. The metric is a weighted sum of two terms which capture both the Euclidean distance traveled by the robot and the perception cost, i.e., the amount of information the robot must perceive about the environment to
more » ... w the path safely. The continuity of the path length function with respect to the topology of the total variation metric is shown and the optimality of the Rationally Inattentive RRT* algorithm is discussed. Three numerical studies are presented which display the utility of the new algorithm.
arXiv:2002.12494v1 fatcat:lahgbyj6z5h2hhieiwf6r5mwpi

Gaussian Belief Space Path Planning for Minimum Sensing Navigation [article]

Ali Reza Pedram, Riku Funada, Takashi Tanaka
2021 arXiv   pre-print
Walker Department of Mechanical Engineering, University of Texas at Austin. apedram@utexas.edu. 2 Department of Systems and Control, Tokyo Institute of Technology. funada@sc.e.titech.ac.jp.  ... 
arXiv:2109.13976v1 fatcat:77bg2xxtvjclzfvdsleyszsewu

Collision Avoidance for Elliptical Agents with Control Barrier Function Utilizing Supporting Lines [article]

Koju Nishimoto, Riku Funada, Tatsuya Ibuki, Mitsuji Sampei
2022 arXiv   pre-print
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 utilizing a signed distance from a supporting line of an agent to the other agent, which renders a positive value if two ellipses are separated by the line. Because this signed distance could yield a shorter length than the actual distance between two ellipses, the supporting line is rotated so that the signed distance
more » ... om the line to the other ellipse is maximized. We prove that this maximization problem renders the signed distance equivalent to the actual distance between two ellipses, hence not causing the conservative evasive motion. Then, we propose the collision avoidance method utilizing novel control barrier functions incorporating a gradient-based update law of a supporting line. The validity of the proposed methods is evaluated in the simulations.
arXiv:2204.13287v1 fatcat:oulwy4t3rncmfn26kvdprfjezq

3-D Visual Coverage Based on Gradient Descent Techniques on Matrix Manifold and Its Application to Moving Objects Monitoring [article]

Takeshi Hatanaka, Riku Funada, Masayuki Fujita
2013 arXiv   pre-print
By calculation, we havẽ Rp il )(p T il R T W Ξp il ) − Rp il Ξp il ) + o(t) e T 3 (R + Ξt)p il 2 (e T 3 Rp il ) Hatanaka, Riku Funada and Masayuki Fujita are with the Department of Mechanical and Control  ...  Engineering, Tokyo Institute of Technology, Tokyo 152-8552, JAPAN hatanaka,funada,fujita@ctrl.titech.ac.jp leads R wi to the set of critical points of H i .  ... 
arXiv:1309.5702v1 fatcat:6o4pbamavbaetdpkghl7i7zkjm

Passivity-based Distributed 3-D Visual Human Localization Algorithm

Riku FUNADA, Shunya YAMASHITA, Takeshi HATANAKA, Masayuki FUJITA
2018 Transactions of the Society of Instrument and Control Engineers  
In this paper, we address distributed 3-D visual human localization for a visual sensor network and present a passivity-based solution. We first formulate the intended problem as a distributed optimization problem. A passivity-based distributed optimization algorithm is then applied to the problem, and it is pointed out that it ensures asymptotic optimality but the convergence speed is considerably slow. To accelerate the convergence, we present a novel algorithm based on a loop shaping
more » ... e and it is shown to maintain convergence to the optimal solution based on passivity. The present algorithm is finally demonstrated through simulation, wherein not only convergence acceleration but also robustness against disturbances are confirmed.
doi:10.9746/sicetr.54.547 fatcat:wyrvlxh5ojgczb476hlumuw5dy

Cooperative Visual Environmental Monitoring: A Gradient Descent Approach on SO(3)
SO(3)上の勾配法に基づく協調視覚環境モニタリング

Riku FUNADA, Takeshi HATANAKA, Masayuki FUJITA
2015 Transactions of the Society of Instrument and Control Engineers  
Funada and M.  ... 
doi:10.9746/sicetr.51.139 fatcat:rypzqn5cgjdovljqmh5hdb2z5u

Distributed Dynamic Reference Governor for Constrained Semi-Autonomous Robotic Swarms with Communication Delays and Experimental Verification

Aditya Wildan FARRAS, Takeshi HATANAKA, Tam W. NGUYEN, Riku FUNADA, Junya YAMAUCHI, Masayuki FUJITA
2019 SICE Journal of Control Measurement and System Integration  
This paper investigates constrained semi-autonomous robotic swarms in the presence of inter-robot communication delays. The objective is that all robots converge to the optimal point related to the reference given by a human operator without violating the constraints. In the presence of constraints, directly applying the human reference may make the system violate constraints. We thus apply a reference governor which suitably modifies the reference to avoid constraint violations. Due to the
more » ... ted access of global information, we present a passivity-based distributed reference governor scheme. However, the presence of the communication delays could cause instability of the system. To integrate communication delays into the passivity paradigm, a passivation technique using the scattering transformation is implemented in the communication path. Based on passivity theory, we prove the convergence of the estimated states of the reference governor to the optimal solution. The simulations and experiments demonstrate the effectiveness of the proposed solution.
doi:10.9746/jcmsi.12.237 fatcat:buyhqjoes5hdnm6gzpq5x7e5ei