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arXiv · 2504.05560

Adaptive Multirobot Virtual Structure Control using Dual Quaternions

Juan I. Giribet·Alejandro S. Ghersin·Ignacio Mas·Harrison Neves Marciano·Daniel Khede Dourado Villa·Mario Sarcinelli-Filho
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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.

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Juan I. Giribet, Alejandro S. Ghersin, Ignacio Mas, Harrison Neves Marciano, Daniel Khede Dourado Villa, Mario Sarcinelli-Filho. 2025-04-07. Adaptive Multirobot Virtual Structure Control using Dual Quaternions. https://arxiv.org/abs/2504.05560

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