Decentralized Swarm Control via SO(3) Embeddings for 3D Trajectories
Fuente:
arXiv
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| Auteurs principaux: | , , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866915616687915008 |
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| author | Silveria, Dimitria Cabral, Kleber Jardine, Peter Givigi, Sidney |
| author_facet | Silveria, Dimitria Cabral, Kleber Jardine, Peter Givigi, Sidney |
| contents | This paper presents a novel decentralized approach for achieving emergent behavior in multi-agent systems with minimal information sharing. Based on prior work in simple orbits, our method produces a broad class of stable, periodic trajectories by stabilizing the system around a Lie group-based geometric embedding. Employing the Lie group SO(3), we generate a wider range of periodic curves than existing quaternion-based methods. Furthermore, we exploit SO(3) properties to eliminate the need for velocity inputs, allowing agents to receive only position inputs. We also propose a novel phase controller that ensures uniform agent separation, along with a formal stability proof. Validation through simulations and experiments showcases the method's adaptability to complex low-level dynamics and disturbances. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_10858 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Decentralized Swarm Control via SO(3) Embeddings for 3D Trajectories Silveria, Dimitria Cabral, Kleber Jardine, Peter Givigi, Sidney Robotics Multiagent Systems This paper presents a novel decentralized approach for achieving emergent behavior in multi-agent systems with minimal information sharing. Based on prior work in simple orbits, our method produces a broad class of stable, periodic trajectories by stabilizing the system around a Lie group-based geometric embedding. Employing the Lie group SO(3), we generate a wider range of periodic curves than existing quaternion-based methods. Furthermore, we exploit SO(3) properties to eliminate the need for velocity inputs, allowing agents to receive only position inputs. We also propose a novel phase controller that ensures uniform agent separation, along with a formal stability proof. Validation through simulations and experiments showcases the method's adaptability to complex low-level dynamics and disturbances. |
| title | Decentralized Swarm Control via SO(3) Embeddings for 3D Trajectories |
| topic | Robotics Multiagent Systems |
| url | https://arxiv.org/abs/2511.10858 |