Distributed Coverage of Boundaries for Multi-robot Systems Using Dual Quaternion Algebra
| Main Authors: | Brito, Rafael Palma, Adorno, Bruno Vilhena, Pimenta, Luciano Cunha de Araújo |
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| Format: | Document publication-technicalnote eJournal |
| Terbitan: |
, 2019
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| Subjects: | |
| Online Access: |
https://zenodo.org/record/3566792 |
Daftar Isi:
- This paper proposes a distributed control law to make a multi-agent system converge and optimally distribute itself along predefined object boundaries in cooperative manipulation tasks. We use a control law for convergence to the boundaries and Voronoi partitions to optimally distribute the robots. Both the object boundaries and the multi-agent system are modeled by using dual quaternion algebra and simulation results show the convergence and distribution of the agents.