This paper evaluates a dual quaternion-based control algorithm designed to manage dynamic changes in the number of vehicles in robot formations. By defining a virtual structure, the algorithm coordinates the formation's position, orientation, and shape parameters, ensuring seamless transitions when the number of vehicles changes. The approach enables a low-level controller to calculate commands for individual robots while maintaining the overall formation integrity. The strategy's performance is analyzed through simulations and experimental results, demonstrating its effectiveness in handling variations in the number of vehicles of robotic formations.


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    Title :

    Dual Quaternion-Based Control for Dynamic Robot Formations




    Publication date :

    2025-05-14


    Size :

    1835059 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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