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- W744643103 abstract "This paper provides a solution to the leader-follower consensus problem in networks composed of multiple heterogeneous robots, modeled in the operational space. Using a simple distributed proportional controller and without using velocity measurements, the paper shows that all the robots in the network asymptotically reach a given leader pose (position and orientation) provided that, at least, one follower robot has access to the leader pose. The singularity-free unit quaternions are used to describe the orientation of the robots manipulators. The effectiveness of the theoretical results is validated through numerical simulations of a network composed of ten robots with 6-Degrees-of-Freedom (DoF)." @default.
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- W744643103 date "2014-01-01" @default.
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- W744643103 title "Operational Space Consensus in Networks of Robots: The Leader-Follower Case" @default.
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- W744643103 doi "https://doi.org/10.1007/978-3-319-03653-3_42" @default.
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