<ul><li>DOI:  10.1109/LRA.2021.3095037 </li>
	<li>Journal: IEEE Robotics and Automation Letters ( Volume: 6, Issue: 4, October 2021)</li>
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Link  - https://ieeexplore.ieee.org/document/9477060

We present a tracking controller for mobile multi-robot systems based on dual quaternion pose representations applied to formations of robots in a leader-follower configuration, by using a cluster-space state approach. The proposed controller improves system performance with respect to previous works by reducing steady-state tracking errors. The performance is evaluated through experimental field tests with a formation of an unmanned ground vehicle (UGV) and an unmanned aerial vehicle (UAV), as well as a formation of two UAVs

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Dual Quaternion Cluster-Space Formation Control

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