Mas, Ignacio (ITBA), Moreno, Patricio (Universidad de Buenos Aires), Giribet, Juan Ignacio (University of Buenos Aires), Valentino Barzi, Diego (Instituto Tecnologico de Buenos Aires)

Formation Control for Multi-Domain Autonomous Vehicles Based on Dual Quaternions

Scheduled for presentation during the "Networked Swarms" (ThA3), Thursday, June 15, 2017, 10:00−10:20, Salon CD

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 18, 2024

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 leader-follower 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.