2025/04/07 by Juan I. Giribet, Alejandro S. Ghersin, Giribet, Juan I. +9
Computer Science · Engineering · #Adaptive Control of Nonlinear Systems #Distributed Control Multi-Agent Systems #FOS: Computer and information sciences #FOS: Electrical engineering #Modular Robots and Swarm Intelligence #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2504.05560
openalex publication_date 2025/04/07 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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.