Adaptive Multirobot Virtual Structure Control using Dual Quaternions

Unmanned Aerial Vehicles (UAVs), particularly multi-rotor platforms, have rapidly advanced in research and applications due to their unique capabilities, including vertical takeoff and landing (VTOL), hovering, and high maneuverability. These features make them ideal for complex environments and have driven their adoption in fields such as environmental monitoring, precision agriculture, infrastructure inspection, and emergency response, among others. A key area of recent interest is the control and coordination of multiple UAVs in formation. Formation control enables groups of UAVs to maintain specific geometric arrangements while performing tasks, offering advantages such as enhanced coverage, efficiency, and redundancy [24]. These benefits are critical for applications ranging from search and rescue to cooperative tasks like cargo transport and aerial cinematography.