Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators
© 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 distri...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
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Elsevier BV
2021
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| Online Access: | https://hdl.handle.net/1721.1/136564 |
| _version_ | 1811076247451598848 |
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| author | Savino, Heitor J Pimenta, Luciano CA Shah, Julie A Adorno, Bruno V |
| author2 | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics |
| author_facet | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Savino, Heitor J Pimenta, Luciano CA Shah, Julie A Adorno, Bruno V |
| author_sort | Savino, Heitor J |
| collection | MIT |
| description | © 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. |
| first_indexed | 2024-09-23T10:18:37Z |
| format | Article |
| id | mit-1721.1/136564 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T10:18:37Z |
| publishDate | 2021 |
| publisher | Elsevier BV |
| record_format | dspace |
| spelling | mit-1721.1/1365642023-09-19T20:07:56Z Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators Savino, Heitor J Pimenta, Luciano CA Shah, Julie A Adorno, Bruno V Massachusetts Institute of Technology. Department of Aeronautics and Astronautics © 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. 2021-10-27T20:35:59Z 2021-10-27T20:35:59Z 2020 2021-05-04T15:04:38Z Article http://purl.org/eprint/type/JournalArticle https://hdl.handle.net/1721.1/136564 en 10.1016/J.JFRANKLIN.2019.09.045 Journal of the Franklin Institute Creative Commons Attribution-NonCommercial-NoDerivs License http://creativecommons.org/licenses/by-nc-nd/4.0/ application/pdf Elsevier BV Other repository |
| spellingShingle | Savino, Heitor J Pimenta, Luciano CA Shah, Julie A Adorno, Bruno V Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators |
| title | Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators |
| title_full | Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators |
| title_fullStr | Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators |
| title_full_unstemmed | Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators |
| title_short | Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators |
| title_sort | pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators |
| url | https://hdl.handle.net/1721.1/136564 |
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