Formation control for multi-domain autonomous vehicles based on dual quaternions

"Unmanned networked multirobot systems have the potential to accomplish complex field tasks with minimum human intervention. Motion coordination of vehicles that operate in different domains (land, sea, air) is one of the problems that need to be addressed to achieve such a goal. This article p...

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Autores principales: Mas, Ignacio, Moreno, Patricio, Giribet, Juan I., Valentino Barzi, Diego
Formato: Ponencias en Congresos acceptedVersion
Lenguaje:Inglés
Publicado: 2019
Materias:
VEHICULOS AEREOS NO TRIPULADOS
Acceso en línea:http://ri.itba.edu.ar/handle/123456789/1728
Aporte de:
Repositorio Institucional Instituto Tecnológico de Buenos Aires (ITBA) de Instituto Tecnológico de Buenos Aires (ITBA)
id I32-R138-123456789-1728
record_format dspace
spelling I32-R138-123456789-17282022-12-07T14:13:41Z Formation control for multi-domain autonomous vehicles based on dual quaternions Mas, Ignacio Moreno, Patricio Giribet, Juan I. Valentino Barzi, Diego VEHICULOS AEREOS NO TRIPULADOS "Unmanned networked multirobot systems have the potential to accomplish complex field tasks with minimum human intervention. Motion coordination of vehicles that operate in different domains (land, sea, air) is one of the problems that need to be addressed to achieve such a goal. This article presents a representation method based on dual quaternions for leaderfollower formation control architectures. This representation offers the most compact and computationally efficient screw transformation formalism and can be used to describe rigid body motions because they simultaneously describe positions and orientations with only eight parameters. A controller in dual quaternion formation space is proposed and analyzed. Computer simulation results and experimental tests applied to the task of escorting an UGV with UAVs are shown to verify the functionality of the proposed system." 2019-08-21T18:14:18Z 2019-08-21T18:14:18Z 2017-06 Ponencias en Congresos info:eu-repo/semantics/acceptedVersion 978-1509-04-494-8 http://ri.itba.edu.ar/handle/123456789/1728 en info:eu-repo/semantics/altIdentifier/doi/10.1109/ICUAS.2017.7991315 info:eu-repo/grantAgreement/FONCyT/PICT/2017-2055/AR. Ciudad Autónoma de Buenos Aires info:eu-repo/grantAgreement/ITBA/Iniciación/2016/AR. Ciudad Autónoma de Buenos Aires info:eu-repo/grantAgreement/UNPA/PI/29/C066/AR. Santa Cruz. Río Gallegos info:eu-repo/grantAgreement/ITBA/ITBACyT/28/AR. Ciudad Autónoma de Buenos Aires application/pdf
institution Instituto Tecnológico de Buenos Aires (ITBA)
institution_str I-32
repository_str R-138
collection Repositorio Institucional Instituto Tecnológico de Buenos Aires (ITBA)
language Inglés
topic VEHICULOS AEREOS NO TRIPULADOS
spellingShingle VEHICULOS AEREOS NO TRIPULADOS
Mas, Ignacio
Moreno, Patricio
Giribet, Juan I.
Valentino Barzi, Diego
Formation control for multi-domain autonomous vehicles based on dual quaternions
topic_facet VEHICULOS AEREOS NO TRIPULADOS
description "Unmanned networked multirobot systems have the potential to accomplish complex field tasks with minimum human intervention. Motion coordination of vehicles that operate in different domains (land, sea, air) is one of the problems that need to be addressed to achieve such a goal. This article presents a representation method based on dual quaternions for leaderfollower formation control architectures. This representation offers the most compact and computationally efficient screw transformation formalism and can be used to describe rigid body motions because they simultaneously describe positions and orientations with only eight parameters. A controller in dual quaternion formation space is proposed and analyzed. Computer simulation results and experimental tests applied to the task of escorting an UGV with UAVs are shown to verify the functionality of the proposed system."
format Ponencias en Congresos
acceptedVersion
author Mas, Ignacio
Moreno, Patricio
Giribet, Juan I.
Valentino Barzi, Diego
author_facet Mas, Ignacio
Moreno, Patricio
Giribet, Juan I.
Valentino Barzi, Diego
author_sort Mas, Ignacio
title Formation control for multi-domain autonomous vehicles based on dual quaternions
title_short Formation control for multi-domain autonomous vehicles based on dual quaternions
title_full Formation control for multi-domain autonomous vehicles based on dual quaternions
title_fullStr Formation control for multi-domain autonomous vehicles based on dual quaternions
title_full_unstemmed Formation control for multi-domain autonomous vehicles based on dual quaternions
title_sort formation control for multi-domain autonomous vehicles based on dual quaternions
publishDate 2019
url http://ri.itba.edu.ar/handle/123456789/1728
work_keys_str_mv AT masignacio formationcontrolformultidomainautonomousvehiclesbasedondualquaternions
AT morenopatricio formationcontrolformultidomainautonomousvehiclesbasedondualquaternions
AT giribetjuani formationcontrolformultidomainautonomousvehiclesbasedondualquaternions
AT valentinobarzidiego formationcontrolformultidomainautonomousvehiclesbasedondualquaternions
_version_ 1765660759914708992

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