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Quaternions and Dual Quaternions: Singularity-Free Multirobot Formation Control
(Springer, 2016-12)
Cluster space control is a method of multirobot formation keeping that considers a group of robots to be a single entity, defining state variables to represent characteristics of the group, such as position, orientation, ...
Analysis of Computational Efficiency applied to forward and Inverse Kinematics of Robotic Manipulators using Homogeneous Transformation Matrixes and Dual Quaternions
(Universidade Tecnológica Federal do Paraná (UTFPR), 2019)
Dual Quaternion Cluster-Space Formation Control
(Institute of Electrical and Electronics Engineers, 2021-10)
We present a tracking controller for mobile multirobot systems based on dual quaternion pose representations applied to formations of robots in a leader-follower configuration, by using a cluster-space state approach. The ...
Dynamic modeling of robotic systems : a dual quaternion formulation
(Universidade Federal de Minas GeraisBrasilENG - DEPARTAMENTO DE ENGENHARIA ELÉTRICAPrograma de Pós-Graduação em Engenharia ElétricaUFMG, 2022-06-16)
Essa tese propõe uma técnica para a modelagem dinâmica de robôs seriais e ramificados utilizando álgebra de quatérnios duais. O modelo considera tanto todas as juntas do tipo lower-pair kinematic quanto juntas de seis graus ...
Whole-body control of a mobile manipulator using feedback linearization and dual quaternion algebra
(Universidade Federal de Minas GeraisUFMG, 2017-06-14)
This master thesis presents the whole-body control of a nonholonomic mobile manipulator using feedback linearization and dual quaternion algebra. The controller, whose reference is a unit dual quaternion representing the ...
Hybrid control for pose stabilization using dual quaternions
(2018-12-11)
Motivado tanto pelas vantagens da representação em dual quatérnios duais e por problemas relativos à obstrução topológica de se ter um equilíbrio assintótico globalmente estável, esse trabalho visa usar o formalismo de ...
Self-Dual and Anti-Self-Dual Solutions of Discrete Yang-Mills Equations on a Double Complex
(Universidad de La Frontera. Departamento de Matemática y EstadísticaUniversidade Federal de Pernambuco. Departamento de Matemática, 2010)
New methods for consensus in multiagent systems
(Universidade Federal de Minas GeraisUFMG, 2016-09-30)
Consensus refers to achieving an agreement on a variable of interest on all the agents in a multiagent system by sharing and/or acquiring information within other agents. Its applications are given in the field of multiagent ...
Complete Hyperbolic Lattices Derived From Tessellations Of Type {4g, 4g}
(World Scientific Publ CO PTE LTDSingapore, 2016)
Whole-body control of humanoid robots at second order kinematics under unilateral constraints
(Universidade Federal de Minas GeraisBrasilENG - DEPARTAMENTO DE ENGENHARIA ELÉTRICAPrograma de Pós-Graduação em Engenharia ElétricaUFMG, 2021-09-30)
Este trabalho usa desigualdades de campos vetoriais (DCV) para prevenir colisões com o ambiente e com o próprio robô. As DCVs são estendidas para cinemática de segunda ordem (DCVSO). Diferentemente de trabalhos anteriores, ...