Error propagation and formation structure design using dual quaternion algebra

Xiangke Wang; Changbin Yu; Zhiyun Lin

doi:10.1109/ICCA.2011.6137966

Error propagation and formation structure design using dual quaternion algebra

Xiangke Wang^*, Changbin Yu, Zhiyun Lin

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

By utilizing a new mathematical tool, i.e., unit dual quaternion and its logarithmic norm, the problem of error propagation and its upper bound on rotation and translation in one path of a rooted tree in 3-dimensional space is studied. For prescribed angular and distance error thresholds, a maximum depth of the rooted tree is obtained correspondingly, which can be used to guide the structure design for formations. Finally, the maximum depth condition is validated by simulations on the USARSim platform with quad-rotor formations.

Original language	English
Title of host publication	2011 9th IEEE International Conference on Control and Automation, ICCA 2011
Pages	18-23
Number of pages	6
DOIs	https://doi.org/10.1109/ICCA.2011.6137966
Publication status	Published - 2011
Event	9th IEEE International Conference on Control and Automation, ICCA 2011 - Santiago, Chile Duration: 19 Dec 2011 → 21 Dec 2011

Publication series

Name	IEEE International Conference on Control and Automation, ICCA
ISSN (Print)	1948-3449
ISSN (Electronic)	1948-3457

Conference

Conference	9th IEEE International Conference on Control and Automation, ICCA 2011
Country/Territory	Chile
City	Santiago
Period	19/12/11 → 21/12/11

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10.1109/ICCA.2011.6137966

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title = "Error propagation and formation structure design using dual quaternion algebra",

abstract = "By utilizing a new mathematical tool, i.e., unit dual quaternion and its logarithmic norm, the problem of error propagation and its upper bound on rotation and translation in one path of a rooted tree in 3-dimensional space is studied. For prescribed angular and distance error thresholds, a maximum depth of the rooted tree is obtained correspondingly, which can be used to guide the structure design for formations. Finally, the maximum depth condition is validated by simulations on the USARSim platform with quad-rotor formations.",

author = "Xiangke Wang and Changbin Yu and Zhiyun Lin",

year = "2011",

doi = "10.1109/ICCA.2011.6137966",

language = "English",

isbn = "9781457714757",

series = "IEEE International Conference on Control and Automation, ICCA",

pages = "18--23",

booktitle = "2011 9th IEEE International Conference on Control and Automation, ICCA 2011",

note = "9th IEEE International Conference on Control and Automation, ICCA 2011 ; Conference date: 19-12-2011 Through 21-12-2011",

}

Wang, X, Yu, C & Lin, Z 2011, Error propagation and formation structure design using dual quaternion algebra. in 2011 9th IEEE International Conference on Control and Automation, ICCA 2011., 6137966, IEEE International Conference on Control and Automation, ICCA, pp. 18-23, 9th IEEE International Conference on Control and Automation, ICCA 2011, Santiago, Chile, 19/12/11. https://doi.org/10.1109/ICCA.2011.6137966

Error propagation and formation structure design using dual quaternion algebra. / Wang, Xiangke; Yu, Changbin; Lin, Zhiyun.
2011 9th IEEE International Conference on Control and Automation, ICCA 2011. 2011. p. 18-23 6137966 (IEEE International Conference on Control and Automation, ICCA).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Wang, Xiangke

AU - Yu, Changbin

AU - Lin, Zhiyun

PY - 2011

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N2 - By utilizing a new mathematical tool, i.e., unit dual quaternion and its logarithmic norm, the problem of error propagation and its upper bound on rotation and translation in one path of a rooted tree in 3-dimensional space is studied. For prescribed angular and distance error thresholds, a maximum depth of the rooted tree is obtained correspondingly, which can be used to guide the structure design for formations. Finally, the maximum depth condition is validated by simulations on the USARSim platform with quad-rotor formations.

AB - By utilizing a new mathematical tool, i.e., unit dual quaternion and its logarithmic norm, the problem of error propagation and its upper bound on rotation and translation in one path of a rooted tree in 3-dimensional space is studied. For prescribed angular and distance error thresholds, a maximum depth of the rooted tree is obtained correspondingly, which can be used to guide the structure design for formations. Finally, the maximum depth condition is validated by simulations on the USARSim platform with quad-rotor formations.

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DO - 10.1109/ICCA.2011.6137966

M3 - Conference contribution

SN - 9781457714757

T3 - IEEE International Conference on Control and Automation, ICCA

SP - 18

EP - 23

BT - 2011 9th IEEE International Conference on Control and Automation, ICCA 2011

T2 - 9th IEEE International Conference on Control and Automation, ICCA 2011

Y2 - 19 December 2011 through 21 December 2011

ER -

Error propagation and formation structure design using dual quaternion algebra

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