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Dual Quaternion Cluster-Space Formation Control
- Source :
- IEEE Robotics and Automation Letters. 6:6789-6796
- Publication Year :
- 2021
- Publisher :
- Institute of Electrical and Electronics Engineers (IEEE), 2021.
-
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.
- Subjects :
- Robot kinematics
Control and Optimization
Unmanned ground vehicle
Computer science
Mechanical Engineering
Biomedical Engineering
ComputerApplications_COMPUTERSINOTHERSYSTEMS
Mobile robot
Kinematics
Computer Science Applications
Human-Computer Interaction
Artificial Intelligence
Control and Systems Engineering
Control theory
Robot
Computer Vision and Pattern Recognition
Quaternion
Dual quaternion
Subjects
Details
- ISSN :
- 23773774
- Volume :
- 6
- Database :
- OpenAIRE
- Journal :
- IEEE Robotics and Automation Letters
- Accession number :
- edsair.doi...........3cf126b68aa3f5050e58a5463b209920