This letter proposes a novel distributed control scheme for heterogeneous robot networks (kinematically and dynamically different), modeled as Euler-Lagrange systems, that solves the leaderless consensus problem in the Special Euclidean space of dimension three (SE(3)). The controller does not rely on velocity measurements and it is robust to variable time-delays in the communication channels. The solution employs a simple Proportional plus damping scheme that, since velocities are not available, injects damping through a dynamical controller. Using Barbalat’s Lemma, it is proved that velocities and pose (position and orientation) errors converge asymptotically to zero. A singularity-free representation, unit-quaternions, is used to describe the robots orientations and the network is modeled as an undirected and connected interconnection graph. Simulation results, with an heterogeneous robot network composed of five agents, are presented to illustrate the performance of the proposed control scheme.

中文翻译：

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具有时间延迟且不进行速度测量的异构机器人的任务空间共识

这封信提出了一种新的针对异构机器人网络（运动学和动态不同）的分布式控制方案，以Euler-Lagrange系统为模型，该方案解决了三维三维特殊欧几里得空间中的无领导者共识问题（SE（3））。控制器不依赖于速度测量，它对通信通道中的可变时延具有鲁棒性。该解决方案采用简单的比例加阻尼方案，由于无法获得速度，因此通过动态控制器注入阻尼。使用Barbalat的引理，证明了速度和姿势（位置和方向）误差渐近收敛到零。无奇点表示单位四元数用于描述机器人的方向，并且将网络建模为无向且已连接的互连图。