Dual Quaternion Cluster-Space Formation Control
Juan I. Giribet, Leonardo Colombo, Patricio Moreno, Ignacio Mas, Dimos V. Dimarogonas
Abstract
We present a tracking controller for mobile multi-robot 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.
Topics & Concepts
QuaternionDual quaternionControl theory (sociology)Controller (irrigation)Dual (grammatical number)Computer scienceCluster (spacecraft)Mobile robotRobotTracking (education)State spaceControl engineeringRobotic spacecraftRoboticsArtificial intelligenceControl (management)EngineeringMathematicsAgronomyArtGeometryLiteraturePedagogyBiologyProgramming languageStatisticsPsychologyDistributed Control Multi-Agent SystemsUAV Applications and OptimizationControl and Dynamics of Mobile Robots