Dual Quaternion Cluster-Space Formation Control

Juan Ignacio Giribet; Leonardo J. Colombo; Patricio Moreno; Ignacio Mas; Dimos V. Dimarogonas

RA-L 202117 citations

Dual Quaternion Cluster-Space Formation Control

Juan Ignacio Giribet, Leonardo J. 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.

BibTeX

@inproceedings{ral2021_dualquaternioncl,
  title = {Dual Quaternion Cluster-Space Formation Control},
  author = {Juan Ignacio Giribet and Leonardo J. Colombo and Patricio Moreno and Ignacio Mas and Dimos V. Dimarogonas},
  booktitle = {RA-L 2021},
  year = {2021}
}