# Multi-Layered Interactive Target Guidance with Visual Safety in Convex-Shaped Obstacle Environments
## 6 Conclusions and Future Works  
In this paper, a multi-layered control architecture was proposed to achieve interactive guidance while ensuring visual safety in environments with convex-shaped obstacles. The architecture consists of a planning layer and a safety layer. First, in the safety layer, candidate control barrier functions were introduced to maintain the target object within the camera's field of view and avoid occlusion by obstacles. The conditions under which these functions are valid as control barrier functions were also derived. Furthermore, it was demonstrated that an optimal solution exists for the optimization problem used to determine the control input that guarantees visual safety when only one obstacle is present. Next, in the planning layer, the trajectory generation problem was formulated as an optimal control problem. Finally, simulations verified that the proposed method successfully achieved the interactive guidance task. Additionally, the third simulation demonstrated that visual safety needs to be considered not only in the planning layer but also in the safety layer.  
As a direction for future research, exploring mechanisms for using predictions of the target object's body velocity in trajectory planning can be considered. In this paper, the target's future velocity was unknown, so it was assumed to be static during trajectory planning. This assumption led to the failure of interactive guidance in the third simulation. Introducing a prediction mechanism could allow the robot to anticipate the target's motion and improve the success of interactive guidance.  
Another direction is to incorporate environmental learning mechanisms such as simultaneous localization and mapping (SLAM) into the proposed method. The proposed approach requires using information from behind obstacles to achieve occlusion avoidance, making it difficult to implement alongside environment learning. Therefore, a future challenge is to develop the proposed method further so that visually safe interactive guidance can be executed using only the sensor information of the robot.  
Conceptualization, J.Y. and M.F.; Methodology, K.K., J.Y. and M.F.; Software, K.K.; Validation, K.K. and J.Y.; Formal analysis, K.K. and J.Y.; Investigation, K.K. and J.Y.; Writing--original draft, K.K.; Writing--review & editing, K.K. and J.Y.; Visualization, J.Y.; Supervision, J.Y. and M.F.; Project administration, J.Y. and M.F.; Funding acquisition, J.Y. All authors have read and agreed to the published version of the manuscript.  
This work was supported by JSPS KAKENHI Grant Number 23K13351.  
Not applicable.  
The original contributions presented in the study are included in the article, further inquiries can be directed to the corresponding author. Data Availability Statements provide details regarding where data supporting reported results can be found, including links to publicly archived datasets analyzed or generated during the study. Below are suggested Data Availability Statements: 7. Dataset available on request from the authors. The raw data supporting the conclusions of this article will be made available by the authors on request.  
The authors declare no conflicts of interest.