Dual Quaternion Cluster-Space Formation Control
Juan I. Giribet, Leonardo Jesus Colombo, Patricio Moreno, Ignacio Mas, Dimos V. Dimarogonas · IEEE Robotics and Automation Letters · 2021
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.