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simmediumroboticsmetric · varies
Dual Quaternion Based Contact Modeling for Fast and Smooth Collision Recovery of Quadrotors
Description
Unmanned aerial vehicles (UAVs) operating in cluttered environments require accurate impact modeling to maintain stability post collisions. However, conventional contact models decouple linear and angular impulses, risking manifold inconsistency during rapid state transitions. This letter presents a dual quaternion reset map that resolves rigid-body impacts directly on the SE(3) manifold. By operating on the unified spatial twist (linear and angular velocities as a single dual entity), the propo