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

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

Consensus of Multi-Agent Networks in the Presence of Adversaries Using Only Local Information

This paper addresses the problem of resilient consensus in the presence of misbehaving nodes. Although it is typical to assume knowledge of at least some nonlocal information when studying secure and fault-tolerant consensus algorithms, this assumption is not suitable for large-scale dynamic networks. To remedy this, we emphasize the use of local strategies to deal with resilience to security breaches. We study a consensus protocol that uses only local information and we consider worst-case security breaches, where the compromised nodes have full knowledge of the network and the intentions of the other nodes. We provide necessary and sufficient conditions for the normal nodes to reach consensus despite the influence of the malicious nodes under different threat assumptions. These conditions are stated in terms of a novel graph-theoretic property referred to as network robustness.Comment: This report contains the proofs of the results presented at HiCoNS 201