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2015 | OriginalPaper | Chapter

10. Pose Synchronization for Rigid Body Networks

Authors : Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong

Published in: Passivity-Based Control and Estimation in Networked Robotics

Publisher: Springer International Publishing

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Abstract

This chapter combines the results in the previous two chapters, and addresses pose synchronization, namely synchronization of positions and orientations, for the rigid body network. A virtual leader is then introduced, and velocity synchronization to the leader’s velocity is proved. The graph condition is then relaxed from strong connectivity to the graph having a spanning tree. The results are further extended to flocking control in three dimensions, where we present a flocking algorithm that embodies all of the Reynolds rules and relies only on inter-agent relative information. This chapter also presents experimental studies for the combination of the present synchronization law and visual motion observer in Chap. 6.

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Footnotes
1
When the control input consists only on relative pose with respect to neighbors, the group motion is described by a reduced order dynamics [146, 147]. The equilibria of the reduced dynamics are called relative equilibria.
 
Metadata
Title
Pose Synchronization for Rigid Body Networks
Authors
Takeshi Hatanaka
Nikhil Chopra
Masayuki Fujita
Mark W. Spong
Copyright Year
2015
DOI
https://doi.org/10.1007/978-3-319-15171-7_10