Abstract
This paper provides a solution to the leader-follower consensus problem in networks composed of multiple heterogeneous robots, modeled in the operational space. Using a simple distributed proportional controller and without using velocity measurements, the paper shows that all the robots in the network asymptotically reach a given leader pose (position and orientation) provided that, at least, one follower robot has access to the leader pose. The singularity-free unit quaternions are used to describe the orientation of the robots manipulators. The effectiveness of the theoretical results is validated through numerical simulations of a network composed of ten robots with 6-Degrees-of-Freedom (DoF).
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Aldana, C.I., Romero, E., Nuño, E., Basañez, L. (2014). Operational Space Consensus in Networks of Robots: The Leader-Follower Case. In: Armada, M., Sanfeliu, A., Ferre, M. (eds) ROBOT2013: First Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 253. Springer, Cham. https://doi.org/10.1007/978-3-319-03653-3_42
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DOI: https://doi.org/10.1007/978-3-319-03653-3_42
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-03652-6
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