Quaternions and dual quaternions: singularity-free multirobot formation control

Mas, Ignacio; Kitts, Christopher

Artículo de Publicación Periódica:
Quaternions and dual quaternions: singularity-free multirobot formation control

dc.contributor.author	Mas, Ignacio
dc.contributor.author	Kitts, Christopher
dc.date.accessioned	2019-09-16T15:30:51Z
dc.date.available	2019-09-16T15:30:51Z
dc.date.issued	2017-09
dc.description.abstract	"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."	en
dc.identifier.issn	0921-0296
dc.identifier.uri	http://ri.itba.edu.ar/handle/123456789/1755
dc.language.iso	en	en
dc.relation	info:eu-repo/semantics/altIdentifier/doi/10.1007/s10846-016-0445-x
dc.relation	nfo:eu-repo/grantAgreement/USAIT/W911NF-14-1-0008/US. Bloomington
dc.relation	nfo:eu-repo/grantAgreement/ITBA/ITBACyT/17/AR. Ciudad Autónoma de Buenos Aires
dc.relation	info:eu-repo/grantAgreement/ANPCyT/PICT/2014-2055/AR. Ciudad Autónoma de Buenos Aires
dc.subject	ROBOTICA	es
dc.subject	CUATERNIOS	es
dc.subject	MICRO VEHICULOS AEREOS	es
dc.title	Quaternions and dual quaternions: singularity-free multirobot formation control	en
dc.type	Artículos de Publicaciones Periódicas	es
dc.type	info:eu-repo/semantics/acceptedVersion
dspace.entity.type	Artículo de Publicación Periódica
itba.description.filiation	Fil: Mas, Ignacio. Instituto Tecnológico de Buenos Aires; Argentina.
itba.description.filiation	Fil: Mas, Ignacio. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina.
itba.description.filiation	Fil: Kitts, Christopher. Santa Clara University; Estados unidos.