Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators
Name
Poseconsensusbasedondualquaternionalgebrawithapplicationtodecentralizedformationcontrolofmobilemanipulators-1.pdf
Description
Submitted version
Size
3.01 MB
Format
Adobe PDF
Checksum (MD5)
addaab74fdc3eacbfe2f63808f94f98b
Author(s)
Savino, Heitor J
Pimenta, Luciano CA
Shah, Julie A
Adorno, Bruno V
Date Issued
2020
Journal
Journal of the Franklin Institute
Publisher
Elsevier BV
Version
Original manuscript
Abstract
© 2019 The Franklin Institute This paper presents a solution based on dual quaternion algebra to the general problem of pose (i.e., position and orientation) consensus for systems composed of multiple rigid-bodies. The dual quaternion algebra is used to model the agents’ poses and also in the distributed control laws, making the proposed technique easily applicable to time-varying formation control of general robotic systems. The proposed pose consensus protocol has guaranteed convergence when the interaction among the agents is represented by directed graphs with directed spanning trees, which is a more general result when compared to the literature on formation control. In order to illustrate the proposed pose consensus protocol and its extension to the problem of formation control, we present a numerical simulation with a large number of free-flying agents and also an application of cooperative manipulation by using real mobile manipulators.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
Creative Commons Attribution-NonCommercial-NoDerivs License
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1016/J.JFRANKLIN.2019.09.045
