Distributed 3D Source Seeking via SO(3) Geometric Control of Robot Swarms
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arXiv
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| Hauptverfasser: | , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| _version_ | 1866909831110066176 |
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| author | Bautista, Jesús de Marina, Héctor García |
| author_facet | Bautista, Jesús de Marina, Héctor García |
| contents | This paper presents a geometric control framework on the Lie group SO(3) for 3D source-seeking by robots with first-order attitude dynamics and constant translational speed. By working directly on SO(3), the approach avoids Euler-angle singularities and quaternion ambiguities, providing a unique, intrinsic representation of orientation. We design a proportional feed-forward controller that ensures exponential alignment of each agent to an estimated ascending direction toward a 3D scalar field source. The controller adapts to bounded unknown variations and preserves well-posed swarm formations. Numerical simulations demonstrate the effectiveness of the method, with all code provided open source for reproducibility. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_06836 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Distributed 3D Source Seeking via SO(3) Geometric Control of Robot Swarms Bautista, Jesús de Marina, Héctor García Robotics This paper presents a geometric control framework on the Lie group SO(3) for 3D source-seeking by robots with first-order attitude dynamics and constant translational speed. By working directly on SO(3), the approach avoids Euler-angle singularities and quaternion ambiguities, providing a unique, intrinsic representation of orientation. We design a proportional feed-forward controller that ensures exponential alignment of each agent to an estimated ascending direction toward a 3D scalar field source. The controller adapts to bounded unknown variations and preserves well-posed swarm formations. Numerical simulations demonstrate the effectiveness of the method, with all code provided open source for reproducibility. |
| title | Distributed 3D Source Seeking via SO(3) Geometric Control of Robot Swarms |
| topic | Robotics |
| url | https://arxiv.org/abs/2510.06836 |