Adaptive Multirobot Virtual Structure Control using Dual Quaternions
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arXiv
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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866917054005641216 |
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| author | Giribet, Juan I. Ghersin, Alejandro S. Mas, Ignacio Marciano, Harrison Neves Villa, Daniel Khede Dourado Sarcinelli-Filho, Mario |
| author_facet | Giribet, Juan I. Ghersin, Alejandro S. Mas, Ignacio Marciano, Harrison Neves Villa, Daniel Khede Dourado Sarcinelli-Filho, Mario |
| contents | This paper presents a control strategy based on dual quaternions for the coordinated formation flying of small UAV groups. A virtual structure is employed to define the desired formation, enabling unified control of its position, orientation, and shape. This abstraction makes formation management easier by allowing a low-level controller to compute individual UAV commands efficiently. The proposed controller integrates a pose control module with a geometry-based adaptive strategy, ensuring precise and robust task execution. The effectiveness of the approach is demonstrated through both simulation and experimental results. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_05560 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Adaptive Multirobot Virtual Structure Control using Dual Quaternions Giribet, Juan I. Ghersin, Alejandro S. Mas, Ignacio Marciano, Harrison Neves Villa, Daniel Khede Dourado Sarcinelli-Filho, Mario Robotics Systems and Control This paper presents a control strategy based on dual quaternions for the coordinated formation flying of small UAV groups. A virtual structure is employed to define the desired formation, enabling unified control of its position, orientation, and shape. This abstraction makes formation management easier by allowing a low-level controller to compute individual UAV commands efficiently. The proposed controller integrates a pose control module with a geometry-based adaptive strategy, ensuring precise and robust task execution. The effectiveness of the approach is demonstrated through both simulation and experimental results. |
| title | Adaptive Multirobot Virtual Structure Control using Dual Quaternions |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2504.05560 |