Quaternions and dual quaternions: singularity-free multirobot formation control

"Cluster space control is a method of multirobot formation keeping that considers a group of robots to be a single entity, defining state variables to represent characteristics of the group, such as position, orientation, and shape. This technique, however, suffers from singularities when a min...

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Autores principales: Mas, Ignacio, Kitts, Christopher
Formato: Artículos de Publicaciones Periódicas acceptedVersion
Lenguaje:Inglés
Publicado: 2019
Materias:
ROBOTICA
CUATERNIOS
MICRO VEHICULOS AEREOS
Acceso en línea:http://ri.itba.edu.ar/handle/123456789/1755
Aporte de:
Repositorio Institucional Instituto Tecnológico de Buenos Aires (ITBA) de Instituto Tecnológico de Buenos Aires (ITBA)
id I32-R138-123456789-1755
record_format dspace
spelling I32-R138-123456789-17552022-12-07T13:06:19Z Quaternions and dual quaternions: singularity-free multirobot formation control Mas, Ignacio Kitts, Christopher ROBOTICA CUATERNIOS MICRO VEHICULOS AEREOS "Cluster space control is a method of multirobot formation keeping that considers a group of robots to be a single entity, defining state variables to represent characteristics of the group, such as position, orientation, and shape. This technique, however, suffers from singularities when a minimal state representation is used. This paper presents three alternative implementations of this control approach that eliminate singularities through changes in the control architecture or through redundant formation definitions. These proposed solutions rely on quaternions, dual quaternions, and control implementations that produce singularity-free trajectories while maintaining a cluster level abstraction that allows for simple specification and monitoring. A key component of this work is a novel concept of representing formation shape parameters with dual quaternions. Simulation results show the feasibility of the proposed solutions and illustrate their differences and limitations." 2019-09-16T15:30:51Z 2019-09-16T15:30:51Z 2017-09 Artículos de Publicaciones Periódicas info:eu-repo/semantics/acceptedVersion 0921-0296 http://ri.itba.edu.ar/handle/123456789/1755 en info:eu-repo/semantics/altIdentifier/doi/10.1007/s10846-016-0445-x nfo:eu-repo/grantAgreement/USAIT/W911NF-14-1-0008/US. Bloomington nfo:eu-repo/grantAgreement/ITBA/ITBACyT/17/AR. Ciudad Autónoma de Buenos Aires info:eu-repo/grantAgreement/ANPCyT/PICT/2014-2055/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 ROBOTICA
CUATERNIOS
MICRO VEHICULOS AEREOS
spellingShingle ROBOTICA
CUATERNIOS
MICRO VEHICULOS AEREOS
Mas, Ignacio
Kitts, Christopher
Quaternions and dual quaternions: singularity-free multirobot formation control
topic_facet ROBOTICA
CUATERNIOS
MICRO VEHICULOS AEREOS
description "Cluster space control is a method of multirobot formation keeping that considers a group of robots to be a single entity, defining state variables to represent characteristics of the group, such as position, orientation, and shape. This technique, however, suffers from singularities when a minimal state representation is used. This paper presents three alternative implementations of this control approach that eliminate singularities through changes in the control architecture or through redundant formation definitions. These proposed solutions rely on quaternions, dual quaternions, and control implementations that produce singularity-free trajectories while maintaining a cluster level abstraction that allows for simple specification and monitoring. A key component of this work is a novel concept of representing formation shape parameters with dual quaternions. Simulation results show the feasibility of the proposed solutions and illustrate their differences and limitations."
format Artículos de Publicaciones Periódicas
acceptedVersion
author Mas, Ignacio
Kitts, Christopher
author_facet Mas, Ignacio
Kitts, Christopher
author_sort Mas, Ignacio
title Quaternions and dual quaternions: singularity-free multirobot formation control
title_short Quaternions and dual quaternions: singularity-free multirobot formation control
title_full Quaternions and dual quaternions: singularity-free multirobot formation control
title_fullStr Quaternions and dual quaternions: singularity-free multirobot formation control
title_full_unstemmed Quaternions and dual quaternions: singularity-free multirobot formation control
title_sort quaternions and dual quaternions: singularity-free multirobot formation control
publishDate 2019
url http://ri.itba.edu.ar/handle/123456789/1755
work_keys_str_mv AT masignacio quaternionsanddualquaternionssingularityfreemultirobotformationcontrol
AT kittschristopher quaternionsanddualquaternionssingularityfreemultirobotformationcontrol
_version_ 1765660911696084992

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