{"ID":2858683,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.06836","arxiv_id":"2510.06836","title":"Distributed 3D Source Seeking via SO(3) Geometric Control of Robot Swarms","abstract":"This paper presents a geometric control framework on the Lie group SO(3) for 3D source-seeking by robots with first-order attitude dynamics and constant translational speed. By working directly on SO(3), the approach avoids Euler-angle singularities and quaternion ambiguities, providing a unique, intrinsic representation of orientation. We design a proportional feed-forward controller that ensures exponential alignment of each agent to an estimated ascending direction toward a 3D scalar field source. The controller adapts to bounded unknown variations and preserves well-posed swarm formations. Numerical simulations demonstrate the effectiveness of the method, with all code provided open source for reproducibility.","short_abstract":"This paper presents a geometric control framework on the Lie group SO(3) for 3D source-seeking by robots with first-order attitude dynamics and constant translational speed. By working directly on SO(3), the approach avoids Euler-angle singularities and quaternion ambiguities, providing a unique, intrinsic representati...","url_abs":"https://arxiv.org/abs/2510.06836","url_pdf":"https://arxiv.org/pdf/2510.06836v1","authors":"[\"Jesús Bautista\",\"Héctor García de Marina\"]","published":"2025-10-08T09:58:48Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}