Dual Quaternion Cluster-Space Formation Control

GIRIBET, JUAN I.; COLOMBO, LEONARDO J.; MORENO, PATRICIO; MAS, IGNACIO; DIMAROGONAS, DIMOS V.

IEEE Robotics and Automation Letters

Institute of Electrical and Electronics Engineers Inc.

Año: 2021 vol. 6 p. 6789 - 6796

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.