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arXiv · 2510.06836

Distributed 3D Source Seeking via SO(3) Geometric Control of Robot Swarms

Jesús Bautista·Héctor García de Marina
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Abstract

This paper presents a geometric control framework on the Lie group SO(3) for 3D source-seeking by robots with first-order attitude dynamics and constant translational speed. By working directly on SO(3), the approach avoids Euler-angle singularities and quaternion ambiguities, providing a unique, intrinsic representation of orientation. We design a proportional feed-forward controller that ensures exponential alignment of each agent to an estimated ascending direction toward a 3D scalar field source. The controller adapts to bounded unknown variations and preserves well-posed swarm formations. Numerical simulations demonstrate the effectiveness of the method, with all code provided open source for reproducibility.

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Jesús Bautista, Héctor García de Marina. 2025-10-08. Distributed 3D Source Seeking via SO(3) Geometric Control of Robot Swarms. https://arxiv.org/abs/2510.06836

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