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

Mas, Ignacio; Moreno, Patricio; Giribet, Juan I.; Valentino Barzi, Diego

Ponencia en Congreso:
Formation control for multi-domain autonomous vehicles based on dual quaternions

dc.contributor.author	Mas, Ignacio
dc.contributor.author	Moreno, Patricio
dc.contributor.author	Giribet, Juan I.
dc.contributor.author	Valentino Barzi, Diego
dc.date.accessioned	2019-08-21T18:14:18Z
dc.date.available	2019-08-21T18:14:18Z
dc.date.issued	2017-06
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.isbn	978-1509-04-494-8
dc.identifier.uri	http://ri.itba.edu.ar/handle/123456789/1728
dc.language.iso	en	en
dc.relation	info:eu-repo/semantics/altIdentifier/doi/10.1109/ICUAS.2017.7991315
dc.relation	info:eu-repo/grantAgreement/FONCyT/PICT/2017-2055/AR. Ciudad Autónoma de Buenos Aires
dc.relation	info:eu-repo/grantAgreement/ITBA/Iniciación/2016/AR. Ciudad Autónoma de Buenos Aires
dc.relation	info:eu-repo/grantAgreement/UNPA/PI/29/C066/AR. Santa Cruz. Río Gallegos
dc.relation	info:eu-repo/grantAgreement/ITBA/ITBACyT/28/AR. Ciudad Autónoma de Buenos Aires
dc.subject	VEHICULOS AEREOS NO TRIPULADOS	es
dc.title	Formation control for multi-domain autonomous vehicles based on dual quaternions	en
dc.type	Ponencias en Congresos	es
dc.type	info:eu-repo/semantics/acceptedVersion
dspace.entity.type	Ponencia en Congreso
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: Moreno, Patricio. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina.
itba.description.filiation	Fil: Moreno, Patricio. Universidad de Buenos Aires; Facultad de Ingeniería; Argentina.
itba.description.filiation	Fil: Giribet, Juan I. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina.
itba.description.filiation	Fil: Giribet, Juan I. Universidad de Buenos Aires. Facultad de Ingeniería; Argentina.
itba.description.filiation	Fil: Valentino Barzi, Diego. Instituto Tecnológico de Buenos Aires; Argentina.