info:eu-repo/semantics/article
Dual Quaternion Cluster-Space Formation Control
Fecha
2021-10Registro en:
Giribet, Juan Ignacio; Colombo, Leonardo Jesus; Moreno, Patricio; Mas, Ignacio Agustin; Dimarogonas, Dimos V.; Dual Quaternion Cluster-Space Formation Control; Institute of Electrical and Electronics Engineers; IEEE Robotics and Automation Letters; 6; 4; 10-2021; 6789-6796
2377-3766
2377-3766
CONICET Digital
CONICET
Autor
Giribet, Juan Ignacio
Colombo, Leonardo Jesus
Moreno, Patricio
Mas, Ignacio Agustin
Dimarogonas, Dimos V.
Resumen
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 proposed controller improves system performance with respect to previous works by reducing steady-state tracking errors. The performance is evaluated through experimental field tests with a formation of an unmanned ground vehicle (UGV) and an unmanned aerial vehicle (UAV), as well as a formation of two UAVs.