Loading [a11y]/accessibility-menu.js
Dual Quaternion Cluster-Space Formation Control | IEEE Journals & Magazine | IEEE Xplore

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 configu...Show More

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.
Published in: IEEE Robotics and Automation Letters ( Volume: 6, Issue: 4, October 2021)
Page(s): 6789 - 6796
Date of Publication: 07 July 2021

ISSN Information:

Funding Agency:


Contact IEEE to Subscribe

References

References is not available for this document.