Distributed Coverage of Boundaries for Multi-robot Systems Using Dual Quaternion Algebra

This paper proposes a distributed control law to make a multi-agent system converge and optimally distribute itself along predefined object boundaries in cooperative manipulation tasks. We use a control law for convergence to the boundaries and Voronoi partitions to optimally distribute the robots. Both the object boundaries and the multi-agent system are modeled by using dual quaternion algebra and simulation results show the convergence and distribution of the agents