Adaptive Multirobot Virtual Structure Control using Dual Quaternions
Robotics
2025-11-04 v2 Systems and Control
Systems and Control
Abstract
This paper presents a control strategy based on dual quaternions for the coordinated formation flying of small UAV groups. A virtual structure is employed to define the desired formation, enabling unified control of its position, orientation, and shape. This abstraction makes formation management easier by allowing a low-level controller to compute individual UAV commands efficiently. The proposed controller integrates a pose control module with a geometry-based adaptive strategy, ensuring precise and robust task execution. The effectiveness of the approach is demonstrated through both simulation and experimental results.
Cite
@article{arxiv.2504.05560,
title = {Adaptive Multirobot Virtual Structure Control using Dual Quaternions},
author = {Juan I. Giribet and Alejandro S. Ghersin and Ignacio Mas and Harrison Neves Marciano and Daniel Khede Dourado Villa and Mario Sarcinelli-Filho},
journal= {arXiv preprint arXiv:2504.05560},
year = {2025}
}