Dual Quaternion Matrices in Multi-Agent Formation Control

Liqun Qi; Xiangke Wang; Ziyan Luo

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arXiv · 2204.01229

Dual Quaternion Matrices in Multi-Agent Formation Control

Liqun Qi·Xiangke Wang·Ziyan Luo

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Abstract

Three kinds of dual quaternion matrices associated with the mutual visibility graph, namely the relative configuration adjacency matrix, the logarithm adjacency matrix and the relative twist adjacency matrix, play important roles in multi-agent formation control. In this paper, we study their properties and applications. We show that the relative configuration adjacency matrix and the logarithm adjacency matrix are all Hermitian matrices, and thus have very nice spectral properties. We introduce dual quaternion Laplacian matrices, and prove a Gershgorin-type theorem for square dual quaternion Hermitian matrices, for studying properties of dual quaternion Laplacian matrices. The role of the dual quaternion Laplacian matrices in formation control is discussed.

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BibTeX RIS

Liqun Qi, Xiangke Wang, Ziyan Luo. 2022-04-04. Dual Quaternion Matrices in Multi-Agent Formation Control. https://arxiv.org/abs/2204.01229

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