ponencia en congreso.page.titleprefix
Formation control for multi-domain autonomous vehicles based on dual quaternions

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dc.contributor.authorMas, Ignacio
dc.contributor.authorMoreno, Patricio
dc.contributor.authorGiribet, Juan I.
dc.contributor.authorValentino Barzi, Diego
dc.date.accessioned2019-08-21T18:14:18Z
dc.date.available2019-08-21T18:14:18Z
dc.date.issued2017-06
dc.description.abstract"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."en
dc.identifier.isbn978-1509-04-494-8
dc.identifier.urihttp://ri.itba.edu.ar/handle/123456789/1728
dc.language.isoenen
dc.relationinfo:eu-repo/semantics/altIdentifier/doi/10.1109/ICUAS.2017.7991315
dc.relationinfo:eu-repo/grantAgreement/FONCyT/PICT/2017-2055/AR. Ciudad Autónoma de Buenos Aires
dc.relationinfo:eu-repo/grantAgreement/ITBA/Iniciación/2016/AR. Ciudad Autónoma de Buenos Aires
dc.relationinfo:eu-repo/grantAgreement/UNPA/PI/29/C066/AR. Santa Cruz. Río Gallegos
dc.relationinfo:eu-repo/grantAgreement/ITBA/ITBACyT/28/AR. Ciudad Autónoma de Buenos Aires
dc.subjectVEHICULOS AEREOS NO TRIPULADOSes
dc.titleFormation control for multi-domain autonomous vehicles based on dual quaternionsen
dc.typePonencias en Congresoses
dc.typeinfo:eu-repo/semantics/acceptedVersion
dspace.entity.typePonencia en Congreso
itba.description.filiationFil: Mas, Ignacio. Instituto Tecnológico de Buenos Aires; Argentina.
itba.description.filiationFil: Mas, Ignacio. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina.
itba.description.filiationFil: Moreno, Patricio. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina.
itba.description.filiationFil: Moreno, Patricio. Universidad de Buenos Aires; Facultad de Ingeniería; Argentina.
itba.description.filiationFil: Giribet, Juan I. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina.
itba.description.filiationFil: Giribet, Juan I. Universidad de Buenos Aires. Facultad de Ingeniería; Argentina.
itba.description.filiationFil: Valentino Barzi, Diego. Instituto Tecnológico de Buenos Aires; Argentina.

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