A dual quaternion-based control strategy for formation flying of small UAV groups is proposed. Through the definition of a virtual structure, the coordinated control of formation's position, orientation, and shape parameters is enabled. This abstraction simplifies formation management, allowing a low-level controller to compute commands for individual UAVs. The controller is divided into a pose control module and a geometry-based adaptive strategy, providing efficient and precise task execution. Simulation and experimental results validate the approach.
View on arXiv@article{giribet2025_2504.05560,
title={ Adaptive Multirobot Virtual Structure Control using Dual Quaternions },
author={ Juan Giribet and Alejandro Ghersin and Ignacio Mas },
journal={arXiv preprint arXiv:2504.05560},
year={ 2025 }
}