Artículo

Dual Quaternion Cluster-Space Formation Control

Giribet, Juan IgnacioIcon ; Colombo, Leonardo Jesus; Moreno, PatricioIcon ; Mas, Ignacio AgustinIcon ; Dimarogonas, Dimos V.
Fecha de publicación: 10/2021
Editorial: Institute of Electrical and Electronics Engineers
Revista: IEEE Robotics and Automation Letters
ISSN: 2377-3766
e-ISSN: 2377-3766
Idioma: Inglés
Tipo de recurso: Artículo publicado
Clasificación temática:

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.
Palabras clave: CLUSTER-SPACE CONTROL , DUAL-QUATERNIONS , LEADER-FOLLOWER FORMATION , MOBILE ROBOTS , MULTI-ROBOT SYSTEMS
 
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info:eu-repo/semantics/restrictedAccess Excepto donde se diga explícitamente, este item se publica bajo la siguiente descripción: Creative Commons Attribution-NonCommercial-ShareAlike 2.5 Unported (CC BY-NC-SA 2.5)
Identificadores
URI: http://hdl.handle.net/11336/166526
URL: https://ieeexplore.ieee.org/document/9477060
DOI: http://dx.doi.org/10.1109/LRA.2021.3095037
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Citación
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
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