945 research outputs found

    Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators

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    This paper presents a solution based on dual quaternion algebra to the general problem of pose (i.e., position and orientation) consensus for systems composed of multiple rigid-bodies. The dual quaternion algebra is used to model the agents' poses and also in the distributed control laws, making the proposed technique easily applicable to time-varying formation control of general robotic systems. The proposed pose consensus protocol has guaranteed convergence when the interaction among the agents is represented by directed graphs with directed spanning trees, which is a more general result when compared to the literature on formation control. In order to illustrate the proposed pose consensus protocol and its extension to the problem of formation control, we present a numerical simulation with a large number of free-flying agents and also an application of cooperative manipulation by using real mobile manipulators

    Partial containment control over signed graphs

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    In this paper, we deal with the containment control problem in presence of antagonistic interactions. In particular, we focus on the cases in which it is not possible to contain the entire network due to a constrained number of control signals. In this scenario, we study the problem of selecting the nodes where control signals have to be injected to maximize the number of contained nodes. Leveraging graph condensations, we find a suboptimal and computationally efficient solution to this problem, which can be implemented by solving an integer linear problem. The effectiveness of the selection strategy is illustrated through representative simulations.Comment: 6 pages, 3 figures, accepted for presentation at the 2019 European Control Conference (ECC19), Naples, Ital
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