Operational space consensus in networks of robots: The leader-follower case

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).