Dual Quaternion-Based Control for a Leader-Follower Formation of Two Quadrotors

This paper investigates the use of dual quaternions for controlling a leader-follower configuration of small Unmanned Aerial Vehicles (UAVs). The paper focuses on how the parameters of a non-linear kinematic control algorithm can be chosen to achieve a prescribed behavior. The paper provides theoretical support, refines existing methods, and validates results through experiments. The findings contribute to the understanding and optimization of dual quaternion-based control strategies for small UAVs formations.