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dc.contributor.author
Mas, Ignacio Agustin
dc.contributor.author
Kitts, Christopher
dc.date.available
2018-05-31T19:20:30Z
dc.date.issued
2016-12
dc.identifier.citation
Mas, Ignacio Agustin; Kitts, Christopher; Quaternions and Dual Quaternions: Singularity-Free Multirobot Formation Control; Springer; Journal of Intelligent; 87; 3-4; 12-2016; 643-660
dc.identifier.issn
0921-0296
dc.identifier.uri
http://hdl.handle.net/11336/46869
dc.description.abstract
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, and shape. This technique, however, suffers from singularities when a minimal state representation is used. This paper presents three alternative implementations of this control approach that eliminate singularities through changes in the control architecture or through redundant formation definitions. These proposed solutions rely on quaternions, dual quaternions, and control implementations that produce singularity-free trajectories while maintaining a cluster level abstraction that allows for simple specification and monitoring. A key component of this work is a novel concept of representing formation shape parameters with dual quaternions. Simulation results show the feasibility of the proposed solutions and illustrate their differences and limitations.
dc.format
application/pdf
dc.language.iso
eng
dc.publisher
Springer
dc.rights
info:eu-repo/semantics/openAccess
dc.rights.uri
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.subject
Multirobot
dc.subject
Formation Control
dc.subject
Dual Quaternions
dc.subject
Mobile Robots
dc.subject
Uav
dc.subject
Multicopters
dc.subject.classification
Ingeniería de Sistemas y Comunicaciones
dc.subject.classification
Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información
dc.subject.classification
INGENIERÍAS Y TECNOLOGÍAS
dc.title
Quaternions and Dual Quaternions: Singularity-Free Multirobot Formation Control
dc.type
info:eu-repo/semantics/article
dc.type
info:ar-repo/semantics/artículo
dc.type
info:eu-repo/semantics/publishedVersion
dc.date.updated
2018-05-31T14:42:04Z
dc.journal.volume
87
dc.journal.number
3-4
dc.journal.pagination
643-660
dc.journal.pais
Alemania
dc.journal.ciudad
Berlin
dc.description.fil
Fil: Mas, Ignacio Agustin. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Instituto Tecnológico de Buenos Aires; Argentina
dc.description.fil
Fil: Kitts, Christopher. Santa Clara University; Estados Unidos
dc.journal.title
Journal of Intelligent
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/doi/https://dx.doi.org/10.1007/s10846-016-0445-x
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/url/https://link.springer.com/article/10.1007%2Fs10846-016-0445-x
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